Captain Chris Hargreaves grabbed Torquay a priceless point in their play-off pursuit and denied Barrow the win that would have secured their survival following a 1-1 draw.
The Bluebirds flew out of the traps and in-form striker Nick Rogan tested Scott Bevan in the fifth minute but they had the lead seven minutes later.
Brendan McGill’s cross from the right found Walker in space and he fired his 17th goal of the season past Bevan.
The Gulls flew forward and their pressure was rewarded three minutes into the second half when skipper Chris Hargreaves slammed in Danny Stevens cross.
Paul Buckle’s men threw everything forward in search of the winner but Barrow held out.
Histon 1 Weymouth 0
Only a mathematical miracle will now deny Histon a play-off place after Matt Langston’s early header earned them a nervy win over relegation-doomed Weymouth.
The Stutes grabbed the lead in just the third minute. Jordan Collins clumsily fouled Jamie Barker and Gareth Gwillim’s free-kick found Langston unmarked to nod into the net.
Adam Legzdins denied Daniel Wright a second before the break while former Histon striker Cliff Akurang forced a save from Danny Naisbitt.
Jack Midson should have sealed the win after the break but Langston’s header proved decisive and The Stutes will extend their season unless a series of results go against them and Kidderminster make up eight goals in the final day fixtures.
Stevenage 3 Kidderminster 1
Lee Boylan’s second-half double put Stevenage in the driving seat to claim a play-off place as they saw-off fellow high-fliers Kidderminster.
Boro striker Steve Morison took just four minutes to end his five game goal drought when he gave his side the lead with a cool finish past Adam Bartlett.
Harriers hitback with Chris Day denying Justin Richards and Matthew Barnes-Homer an equaliser but Richards drew the visitors level a minute before the break when he slid in Dean Bennett’s cross.
However, Stevenage caught Mark Yates’ men cold after the restart when Boylan fired beyond Bartlett from distance on 48 and the former Cambridge hitman had a second on 65 after good work from Mitchell Cole.
York 2 Forest Green 1
Second-half goals from Adam Boyes and Richard Brodie moved York to within touching distance of safety.
The Minstermen dominated the first period with Brodie, Boyes and Adam Smith all testing Rovers keeper Terry Burton.
But the pressure paid off in the 58th minute when Brodie teed-up youngster Boyes to convert from close range.
And five minutes later Brodie had the goal his performance deserved with a stunning finish from Ben Purkiss’ cross.
Marcus Palmer grabbed a consolation a minute from time after being played-in by Adriano Rigoglioso but York held firm for a crucial win.
Grays 1 Crawley 0
George Beavan’s first goal for Grays all but ensured The Blues survival for another season.
The on-loan Luton youngster brought the first-half to life when he hammered home from close range after Crawley failed to clear their box.
The visitors dominated the second period but found Lee Butcher in inspired form for the hosts as he denied Michael Malcolm, Gavin Hurren and Mithun Nayee.
Grays held-on and only handsome victories for Weymouth in their final two games will see The Blues relegated.
Ebbsfleet 1 Wrexham 0
Ebbsfleet defender Mark Ricketts’ stunning second-half goal condemned Wrexham to their fourth straight defeat.
Fleet striker Michael Gash forced Chris Maxwell into action early-on before Ryan Flynn went close at the other end.
Michael Proctor also tested Lance Cronin in the Fleet goal but Liam Daish’s side grabbed all of the points on 65 minutes when Ricketts crashed home, off the underside of the bar, from the edge of the box.
Lewes 1 Kettering 2
Gareth Seddon moved past 20 goals for the season as Kettering piled more misery on the Dripping Pan faithful.
The former Bury striker found the net after just six minutes when he linked up with Luton loanee Ryan Charles and beat Rikki Banks with a powerful shot.
Banks made fine saves from Luke Potter and Jean-Paul Marna but he was helpless on 64 when Seddon fired home from the edge of the box.
Joe Keehan got one back from the spot 19 minutes from time after Guy Branston fouled Ryan Storrie but The Poppies held out.
Mansfield 2 Altrincham 0
Mansfield cruised to a comfortable home win over Altrincham thanks to goals from Scott Garner and Nathan Arnold.
After a scrappy opening The Stags went in front in the 29th minute when Garner capitalised on a loose ball in the box and beat Richard Acton from ten yards.
Acton denied Robert Duffy a second but he was beaten again six minutes into the second period with Arnold coolly converting Duffy’s cross.
Michael Welch saw Alty’s best effort well saved by Jason White but Town were good value for their win.