Walter was born July 16, 1943 in Kansas City, MO, a son of Robert H. and Rose Mae (Carroll) Cook. He was a graduate of Raytown High School. He had lived in Raytown, MO and Kansas City, MO for 58 years before moving to Harrisonville where he had lived for the past 19 years.
Walter was a Biblical scholar and an avid American historian. He was a member of the Cass County Historical Society and a former member of the Harrisonville Historic Preservation Commission. Walter was also a member of the Kansas City Area Historic Trails Association and the Oregon-California Trails Association. He had written several articles on the history of Jackson County, Missouri. Walter was recently attending the Living Church of God in Kansas City, MO.
Walter was preceded in death by his parents. He is survived by one sister, Rose Mary Smith, Colorado Springs, CO and many cousins, including, Judith Walker, and Ronnie Carroll.