Walton played eight seasons in the National Football League (NFL) as a pass catching tight end for the Redskins and Giants.

His work as offensive coordinator led the Jets to hand over the head-coaching position to him on February 10, 1983, when he succeeded Walt Michaels whose retirement had been announced the previous day.

Fan discontent with the team led to chants of "Joe Must Go" that urged owner Leon Hess to fire him.

Walton was recruited by head coach Chuck Noll in 1990 to serve as the offensive coordinator for the Pittsburgh Steelers.

[9] Walton's NFL protégés include Rich Kotite, Bud Carson, Joe Theismann, Fran Tarkenton, Norm Snead, Ken O'Brien and Richard Todd.

On July 27, 1993, Walton was named the head coach at Robert Morris University of its newly formed Colonials football team.

The Colonials would go on to win a sixth NEC title in 2010 and earn the first-ever FCS playoff bid for the conference.

The winningest coach in NEC history, Walton retired with 114 career victories and a 74–47 record against conference opponents during his 20-year run.

Walton has also helped a fledgling program send three of its brightest stars to the National Football League (NFL).

Former offensive lineman Hank Fraley (1996–1999), a member of the NEC's first Hall of Fame induction class in 2010, spent 10 years in the NFL from 2000 to 2010 with the Philadelphia Eagles, the Cleveland Browns and the St. Louis Rams.

Also to see time in NFL camps from Robert Morris under Walton include former wide receiver DeLonte Perkins (Green Bay Packers), former quarterback Tim Levcik (Miami Dolphins, Pittsburgh Steelers), AJ Dalton (Detroit Lions).

[11] After returning to the Pittsburgh area in 1990 to coach for the Steelers, Walton moved back to his hometown Beaver Falls with his late wife, Ginger, who died in September 2007 after 47 years of marriage.