The visitors were off to a flying start in De Luiten after Yuri Cornelisse netted after just four minutes.
Rick Hoogendorp doubled their advantage after 25 minutes, although RBC struck back immediately with Bjorn Daelemans scoring shortly after.
Despite desperately searching for that all-important equaliser it never came, and ultimately Said Boutahar's late third sealed the visitors' victory.
RBC remain in ninth following the defeat, while the three-point haul for RKC leapfrogs them over NEC and NAC in the Eredivisie.
Click below for match summary:
RBC Roosendaal 1-3 RKC Waalwijk
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