He had at least four brothers, Roger, Giles, Richard and Simon, as well as sisters, Maud, Basilia and Cecilia.
He took over Clifford barony in 1208 on the disgrace of his father, who appeared disloyal to King John of England who was then in dispute with Walter's lord for Bronllys, William de Braose, 4th Lord of Bramber.
Walter's first marriage proved barren and he married Margaret, the daughter of Prince Llywelyn ab Iorwerth, late in life during 1232 following the accidental death of her first husband, John de Braose.
He then joined the king, defending Bronllys Castle in a war against his father-in-law, Llywelyn ab Iorwerth who was at the time besieging nearby Brecon.
She married firstly William Longespée, grandson of the 3rd Earl of Salisbury, and secondly John Giffard of Brimsfield.