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 Tom Scholz and Brad Delp, the latter 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 returned to Boston to assist in the writing, and shared lead vocals on the subsequent Walk On Tour, though he did not sing on the album. Delp and Cosmo also shared leads on Boston's next album Corporate America.
After its release, 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 were titled "Walk On -- Against Violence and Cruelty", and 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 was noted that Delp himself was a contributor to these causes.