 Walters joined Swindon Town on a free on 31 July 1996 and made his debut on 17 August in the 2–0 defeat to Norwich City at Carrow Road.His first goal for the Robins came via a 26th-minute penalty during the 2–1 league win over Tranmere Rovers on 14 September 1996.At the County Ground, Walters was "sometimes brilliant, but at other times could be very frustrating".