On 12 May, "Walke" got underway for New York where she arrived the following day. On 14 May, she headed for European waters to participate in the Normandy invasion. She arrived in Greenock, Scotland, on 24 May. As a unit of Destroyer Division (DesDiv) 119, "Walke" participated in the Normandy invasion between 6 and 26 June. On 7 and 8 June, she conducted shore bombardments, destroying blockhouses and machine-gun positions as well as helping to repulse a counterattack mounted by German armored units. On 23 and 24 June, the warship supported minesweeping operations at the Bombardment of Cherbourg and duelled with enemy shore batteries.