Diffusion weighted imaging (DWI) of the liver has multiple important applications in the assessment of liver disease, including cancer. However, liver DWI faces several major challenges including signal dropout due to cardiovascular pulsation, mis-registration due to respiratory motion, and low SNR. We have developed a DWI technique that addresses these challenges by combining motion-robust diffusion waveforms to address cardiovascular pulsation, high SNR from non-gated free-breathing acquisitions, and motion-corrected averaging for respiratory motion-correction. This technique was evaluated in patients with known or suspected liver metastases. The proposed technique has the potential to enable improved assessment of liver lesions.