 Walter was the son of Robert Livingston (1708–1790), 3rd Lord of Livingston Manor.His paternal great-grandfather, Philip was the younger brother of his maternal great-grandfather, Robert.He was Clerk of the New York State Assembly in 1822, 1823, 1824, 1826 and 1827, following Dirck L. Vanderheyden and serving from January 2, 1822 until January 4, 1825 when Horatio Merchant became Clerk.