He stunt-doubled for Jon Pertwee, Michael Caine, Tom Baker and David Warner amongst others.
Walsh is known for his work on the science fiction television programme Doctor Who.
He was also the stunt co-ordinator for Robin of Sherwood, devising three sword fighting sequences, which subsequently became standard movements on television and film.
When he wasn't stunting, he drove a black-cab from Edgware station taxi-rank.
This article about a British television actor born in the 1930s is a stub.