The focus of this paper is on application of peridynamics (PD) to propagation of elastic waves in unbounded domains. We construct absorbing boundary conditions (ABCs) derived from a semi-analytical solution of the PD governing equation at the exterior region. This solution is made up of a finite series of plane waves, as fundamental solutions (modes), which satisfy the PD dispersion relations. The modes are adjusted to transmit the energy from the interior region (near field) to the exterior region (far field). The corresponding unknown coefficients of the series are found in terms of the displacement field at a layer of points adjacent to the absorbing boundary. This is accomplished through a collocation procedure at subregions (clouds) around each absorbing point. The proposed ABCs offer appealing advantages, which facilitate their application to PD. They are of Dirichlet-type, hence their implementation is relatively simple as no derivatives of the field variables are required. They are constructed in the time and space domains and thus application of Fourier and Laplace transforms, cumbersome for nonlocal models, is not required. At the discrete level, the modes satisfy the same numerical dispersion relations of the near field, which makes the far-field solution compatible with that of the near field. We scrutinize the performance of the proposed ABCs through several examples. Our investigation shows that the proposed ABCs perform stably in time with an appropriate level of accuracy even in problems characterized by highly-dispersive propagating waves, including crack propagation in semi-unbounded brittle solids.