Walter Johan Heinrich Steffens (26 December 1908 – 23 August 2006) was a German gymnast who won an Olympic gold medal.

He was born in Barnstorf, the son of a family of craftsmen.

In the 1936 Summer Olympics in Berlin he won a gold medal as part of the German team, along with Alfred Schwarzmann and others.

He was a sports instructor at the Hamm Gymnasium and at the Freiherr-vom-Stein-Realschule in Bergkamen.

This biographical article related to German artistic gymnastics is a stub.