In a game that both sides, who are struggling towards the bottom of the table, could have done with winning, the first half was a rather poor affair, with neither side able to create any clear-cut chances.
The best opportunity of the half fell to Norwich when Asmir Begovic had to get down well to save from Robert Snodgrass after Wes Hoolahan had found him with a clever pass, while Stoke's best chances fell to Marko Arnautovic who wasted them by shooting tamely wide.
Both sides upped the tempo in the second half and Begovic had to save a couple of times from Hoolahan before Norwich took the lead in the 55th minute when Bradley Johnson headed home a free-kick from Snodgrass.
Mark Hughes' men equalised in the 73rd minute when substitute John Guidetti was fouled by Sebastien Bassong in the area and Walters stepped up to slam the penalty into the top corner.
Walters turned villain minutes later when he was sent off for a high challenge on Alexander Tettey but Stoke held on for a point.