The invention discloses a delay brake valve of a walking motor and the walking motor. The delay brake valve comprises a valve seat, a valve core and a reset spring, wherein the reset spring is arranged on the valve core in a sleeving manner and clamped by the valve core and the valve seat; a damping groove is formed in the valve core; an oil leaking hole capable of communicating with an oil leaking cavity of a motor housing is formed in a groove, facing the valve core, of the valve seat; when the valve core is located at a first relative position relative to the valve seat, the damping groovecommunicates with a bypass oil pipeline, and oil in the bypass oil pipeline flows towards the oil leaking hole via the damping groove; and when the valve core is located at a second relative positionrelative to the valve seat, the damping groove is blocked by the valve seat, and the oil in the bypass oil pipeline directly flows to a brake piston mechanism. The delay brake valve ensures that whenthe motor is in a starting mode, parking brake can be rapidly canceled, and when the motor is in a parking mode, parking brake is lagged behind hydraulic brake, and brake delay time is adjustable. Theproblems of brake pad sintering, heating and the like caused by unmatched delay time are solved. The reliability of the walking motor is improved when processing cost is reduced and repair difficultyis lowered.