Baldock, returning from an ankle injury, broke the deadlock with a clinical 55th-minute finish before Mathias Kouo-Doumbe added a second to end the Daggers’ four-match unbeaten run.
Dons controlled the first half but it took them until the 39th minute to test keeper Tony Roberts, who produced a good diving save to push away Luke Chadwick’s fierce long-range shot.
Jermaine Easter slotted a penalty against the outside of a post two minutes later, after Lewis Guy had been tripped in the box by Roberts as he went round him.
But substitute Baldock put the Dons ahead just five minutes after coming on when he raced clear onto Angelo Balanta’s pass and finished expertly from a tight angle and Kouo-Doumbe doubled their lead in the 62nd minute, heading in from 10 yards after Dietmar Hamann had nodded back Balanta’s deep corner.
Dons keeper David Martin denied Bas Savage and Danny Green as Dagenham battled back, while Baldock looped a header against the bar at the death.