Dynamical Chern-Simons gravity cannot be strongly constrained with current experiments because it reduces to general relativity in the weak-field limit. This theory, however, introduces modifications in the nonlinear, dynamical regime, and thus it could be greatly constrained with gravitational waves from the late inspiral of black-hole binaries. We complete the first self-consistent calculation of such gravitational waves in this theory. For favorable spin orientations, advanced ground-based detectors may improve existing solar system constraints by 6 orders of magnitude.