While it may not be as vital to stretch before and after walking like other strenuous exercises, adding a brief 5 minute stretching session post walking will help increase your flexibility. And it will help make sure you stay mobile as you get older.
This Stretching Routine for Walkers article has info on good leg and shoulder stretching to implement after your walk.
Take a look at The Walking Site for additional information on stretches and more.
Main thing to remember with stretching – don’t bounce. Enjoy your walk, and stretches! 🙂