The 30-year-old said: "For the first seven years I was there, I even washed my own kit.
"But I was always happy at Walsall. I have played with some great characters and have many happy memories.
"I can't wait to join up with my new team-mates for pre-season training," he told the West Ham website.
Walker signed for the Hammers this week and will provide competition for Stephen Bywater at Upton Park.
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MMIX
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