Techniques for applying waveform shaping to DC-to-DC level transitions in an audio amplifier. In an aspect, a waveform shaping block may utilize a non-linear shaping waveform such as a Gaussian waveform, raised-cosine waveform, root-raised cosine waveform, etc., to shape the transition between two DC levels in an audio amplifier output. The waveform shaping techniques may be utilized, e.g., during power-up or power-down of the amplifier, or in an impedance measurement mode, to reduce audio artifacts associated with the transition while minimizing overall transition time.