After the death of his parents, he was raised by his father's stepmother Philippa Mohun, and her third husband Edward, 2nd Duke of York.
Walter became a permanent guest at the English court and was knighted by King Henry V of England in 1420.
In January 1426, Walter landed with his men in Zeeland, where the Battle of Brouwershaven took place.
The English and their Zeeland supporters were overwhelmed by the Flemish-Burgundian fleet of Philip the Good and had to flee with great losses.
His body was transferred to England and buried in the Little Dunmow Priory located in the county of Essex.