The NZ First leader said Professor Walker had a different political point of view from his own.
"But it didn't alter the fact that we had some very meaningful discussions about people's perspectives.
"He took an approach that many people would have said was radical, many would have said was not what they agreed with. But he stuck to his guns and you've got to respect someone who sticks to their convictions...
"So in the end I think what matters is respect and integrity and he had that."
Mr Peters said he had known Professor Walker since the 1950s, when he taught at Whangaruru. He last saw him a year ago, but the professor was not able to make it up to Whananaki this summer.
Dr Walker, who would have turned 84 tomorrow, was a former professor of Maori studies at the University of Auckland. In 2001, he was made a Distinguished Companion of the New Zealand Order of Merit, equivalent to a knighthood. In 2009, when knighthoods were reintroduced, he declined the opportunity to take the title "Sir".