The Strictly Come Dancing star will leave the BBC One drama as Janeece Bryant next Thursday (September 27), before appearing on stage for a tour of The Vagina Monologues.
Healey will appear alongside Coronation Street star Vicky Entwistle, Hayley Tamaddon and Clare Buckfield in the stage production.
"This is my stage debut, this is full-on theatre, it's as good as it gets," she told BBC Breakfast.
"Vicky Entwistle and Clare Buckfield are both lovely. I've never done this before, it's on stage and it's very daunting, But I'm very excited at the same time."
Speaking about her upcoming exit from Waterloo Road, she said that she is glad her character wasn't killed off.
"I said I wanted to leave, but they didn't kill me off.
"It's a deep storyline where I leave the show, I'm glad I wasn't killed, in case I want to come back."
Chelsee Healey recently said that she "needed" to leave the drama in order to find a new challenge, but that she will "never say never" to making a return.