Ahead of the 2011–12 season, the club's Director of Football Marcel Brands announced that Zoet was to be loaned out to get first team football.
It was announced on 27 June 2011 that Zoet joined RKC Waalwijk on loan for the rest of the 2011–12 season, beating out several teams, who were interested in signing him.

Zoet made his league debut, as well as, his debut at RKC Waalwijk, against Heracles Almelo in an eventual 2–2 draw on 6 August 2011.
In a follow–up match, he played against his parent club, PSV Eindhoven, for the whole game and conceded the only goal in the game, in a 1–0 loss.
Since joining the club, he established himself in the starting eleven, as a first choice goalkeeper.
His performance at RKC Waalwijk attracted interests from other clubs around Europe.
Then, on 20 December 2011 in the KNVB Beker Round of 16 against Go Ahead Eagles, Zoet set up the club's first goal of the game and helped the club win 3–2 to progress to the next round.
However, he was soon at fault when he conceded five goals in a 5–0 loss against FC Twente on 21 January 2012.
He was able to make amends when he kept the next two matches with clean sheets.
Zoet then played against his parent club, PSV Eindhoven, for the second time this season on 12 April 2012 and helped them beat them 2–1, in hopes of qualifying for the UEFA Europa League next season.
In the league's play-offs for a spot in the UEFA Europa League, he started all four matches, as RKC Waalwijk lost 5–2 to Vitesse on aggregate.
At the end of the 2011–12 season, Zoet went on to make forty–two appearances in all competitions, including starting all the matches in the league.

Despite being keen on returning to his parent club next season, Zoet, again, was loaned out to RKC Waalwijk for the 2012–13 season.
In the opening game of the season, Zoet started the match against his parent club, PSV Eindhoven, and helped the side beat them 3–2.
Following a 1–0 win over Roda JC, Manager Erwin Koeman praised his performances over his saves.
Between 10 November 2012 and 17 November 2012, Zoet kept two clean sheets in two matches, both of them were wins against Heerenveen and FC Utrecht.
Zoet started in every matches since the start of the 2012–13 season until he was sent–off in the 83rd minutes for a professional foul, in a 1–0 loss against SC Heerenveen on 1 February 2013.
For his sending off, he served a one match ban.
At the end of the 2012–13 season, Zoet went on to make thirty–five appearances in all competitions, having played thirty–three times in the league by being a first choice goalkeeper for RKC Waalwijk once again.
Ahead of the 2011–12 season, the club's Director of Football Marcel Brands announced that Zoet was to be loaned out to get first team football. It was announced on 27 June 2011 that Zoet joined RKC Waalwijk on loan for the rest of the 2011–12 season, beating out several teams, who were interested in signing him.
Zoet made his league debut, as well as, his debut at RKC Waalwijk, against Heracles Almelo in an eventual 2–2 draw on 6 August 2011. In a follow–up match, he played against his parent club, PSV Eindhoven, for the whole game and conceded the only goal in the game, in a 1–0 loss. Since joining the club, he established himself in the starting eleven, as a first choice goalkeeper. His performance at RKC Waalwijk attracted interests from other clubs around Europe. Then, on 20 December 2011 in the KNVB Beker Round of 16 against Go Ahead Eagles, Zoet set up the club's first goal of the game and helped the club win 3–2 to progress to the next round. However, he was soon at fault when he conceded five goals in a 5–0 loss against FC Twente on 21 January 2012. He was able to make amends when he kept the next two matches with clean sheets. Zoet then played against his parent club, PSV Eindhoven, for the second time this season on 12 April 2012 and helped them beat them 2–1, in hopes of qualifying for the UEFA Europa League next season. In the league's play-offs for a spot in the UEFA Europa League, he started all four matches, as RKC Waalwijk lost 5–2 to Vitesse on aggregate. At the end of the 2011–12 season, Zoet went on to make forty–two appearances in all competitions, including starting all the matches in the league.
Despite being keen on returning to his parent club next season, Zoet, again, was loaned out to RKC Waalwijk for the 2012–13 season. In the opening game of the season, Zoet started the match against his parent club, PSV Eindhoven, and helped the side beat them 3–2. Following a 1–0 win over Roda JC, Manager Erwin Koeman praised his performances over his saves. Between 10 November 2012 and 17 November 2012, Zoet kept two clean sheets in two matches, both of them were wins against Heerenveen and FC Utrecht. Zoet started in every matches since the start of the 2012–13 season until he was sent–off in the 83rd minutes for a professional foul, in a 1–0 loss against SC Heerenveen on 1 February 2013. For his sending off, he served a one match ban. At the end of the 2012–13 season, Zoet went on to make thirty–five appearances in all competitions, having played thirty–three times in the league by being a first choice goalkeeper for RKC Waalwijk once again.
Jeroen Zoet