The two independent ``plus" and ``cross" polarization waveforms associated with the gravitational waves emitted by inspiralling, non-spinning, compact binaries are presented, ready for use in the data analysis of signals received by future laser interferometer gravitational-wave detectors such as LIGO and VIRGO. The computation is based on a recently derived expression of the gravitational field at the second-post-Newtonian approximation of general relativity beyond the dominant (Newtonian) quadrupolar field. The use of these theoretical waveforms to make measurements of astrophysical parameters and to test the nature of relativistic gravity is discussed.