After the success of their 1986 album Third Stage, the band began planning a follow-up and writing for Walk On, which began in 1988. However, due to the increased friction and disagreements between himself and Tom Scholz, Brad Delp left the band in 1989 to join original Boston guitarist Barry Goudreau in forming a new band, named RTZ. Soon after Fran Cosmo was hired and introduced as the new lead singer, Delp did return to Boston to assist in the recording for the album and also shared lead vocals on the subsequent Walk On Tour.
After its release, the album "Walk On" peaked at #7 on the Billboard 200 and yielded the hit "I Need Your Love." It was certified Platinum by the RIAA on September 8, 1994.
The final eight pages of the album's booklet are titled "Walk On -- Against Violence and Cruelty" and are dedicated to preventing domestic abuse and animal cruelty, providing contact information of numerous organizations, including the National Coalition Against Domestic Violence and the Humane Society. It is noted that Delp himself was a huge contributor to these causes.