Five minutes before the break, Waaka reduced the gap with a penalty and the teams went in at halftime with Counties leading 12-8.
The Bulls regained the lead with three penalties and a try to Waaka midway through the second half.
Counties winger Toni Pulu then scored six minutes from time to set up a thrilling finish, but it was Taranaki who walked away with the win when Waaka went over for his second, late in the match.
Both teams are in action on Sunday as Taranaki travel to Whangarei to face Northland, while Counties head south to face Hawke’s Bay in Napier.
TARANAKI 26 (B Waaka 2, L Boshier tries; Waaka 3 pen, con).
Counties 19 (K Tuiloma, T Nabura, T Pulu tries; L Fosita con, L Laulala con). — NZ Herald