Context. The Radio and Plasma Waves (RPW) instrument is one of the four in situ instruments of the ESA/NASA Solar Orbiter mission, which was successfully launched on February 10, 2020. The Low Frequency Receiver (LFR) is one of its subsystems, designed to characterize the low frequency electric (quasi-DC - 10 kHz) and magnetic (similar to 1 Hz-10 kHz) fields that develop, propagate, interact, and dissipate in the solar wind plasma. Combined with observations of the particles and the DC magnetic field, LFR measurements will help to improve the understanding of the heating and acceleration processes at work during solar wind expansion. Aims. The capability of LFR to observe and analyze a variety of low frequency plasma waves can be demontrated by taking advantage of whistler mode wave observations made just after the near-Earth commissioning phase of Solar Orbiter. In particular, this is related to its capability of measuring the wave normal vector, the phase velocity, and the Poynting vector for determining the propagation characteristics of the waves. Methods. Several case studies of whistler mode waves are presented, using all possible LFR onboard digital processing products, waveforms, spectral matrices, and basic wave parameters. Results. Here, we show that whistler mode waves can be very properly identified and characterized, along with their Doppler-shifted frequency, based on the waveform capture as well as on the LFR onboard spectral analysis. Conclusions. Despite the fact that calibrations of the electric and magnetic data still require some improvement, these first whistler observations show a good overall consistency between the RPW LFR data, indicating that many science results on these waves, as well as on other plasma waves, can be obtained by Solar Orbiter in the solar wind.