The Gers have already clinched the Scottish Championship title this campaign and have gained automatic promotion to the Scottish Premiership.
This will be the first time that Rangers will feature in the top flight of Scottish football since 2012.
Waghorn, who joined the Glasgow giants in the summer of 2015, believes that Mark Warburton’s side can clinch the Scottish Premiership title.
The 26-year-old former Sunderland and Leicester City forward, who has scored 28 goals for Rangers so far this season, has also stated that he does not have any plans to leave Ibrox in the summer transfer window.
“Yes, of course,” the 26-year-old told The Scottish Sun when asked if Rangers can win the title next season. “It’s Rangers Football Club we’re playing for and we want to be competing at the highest level.
“Last week showed we’re really not that far away. We’re still a new squad, it’s our first season with the new manager and new players. We’ve shown how good we can be so why not?”
“I’m really happy and settled where I am,” said Waghorn regarding his future. “My family are settled and the football is going great.
“I’m really happy and you won’t get many places where you can compete for three or four trophies every season. It would take a lot for me to even think about moving again. I’m really happy.”
Rangers have a strong team, and with three or four good signings in the summer transfer window, they will become even better.
Celtic will be the favourites for the Scottish Premiership title next season, though, and they are likely to reinforce in the summer.