It seems that truth and falsehood are fundamental to meanings and types. A proposition is defined as anything that is true or that is false.
PM defines truth as "consisting in the fact that there is a complex corresponding to the discursive thought which is the judgement."* If I'm not mistaken, truth is not one of PM's primitive ideas. In Chapter IV of 1st ed introduction, the reason for pronouncing "$\{(x).\phi(x)\}$ is a man" as meaningless appears rather arbitrary.
I wonder if W&R assumed that the notion of truth is well-known. If so, whose definition were they referring to?
*Chapter II.Tuth and Falsehood.
From the point of view of "logical machinery", we can say that PM assumes "true" and "false" as two undefined concepts that we are able to manage in the context of logic and mathematics.
See the definition of truth-values, page 8 :
In pages 45-on, there is an attempt to define the concepts : truth and falsehood.
The context, as you already noted, is the "act of judgement", involving a mind and several interconnected objects. True is a "property" of the judgement :
This seems an enunciation of The Correspondence Theory of Truth :
Apart from all metaphysical implications regarding objects (what they are ?) and their "interconnections" into complex (what are relations ?), this basic account - as noted in Kevin's comment above - can be compared to well-known Tarski's Truth Definition.