The 38-year-old posted a statement posted on social media on Friday after Baftaannounced it was suspending Clarke, 45, who is best known for appearing in Doctor Who and for co-creating The Hood Trilogy.
Clarke has said he “vehemently denies” sexual misconduct and expressed his intention to defend himself against the claims.
In a statement posted on Twitter, fellow actor Walters said he could not “standby and ignore these allegations”.
"My thoughts are with the women who have come forward and told their awful stories, I am in shock and deeply saddened by what I have heard on a multitude of levels,” Walters said.
"I could never condone behaviour of this nature neither in nor out of the workplace, and whilst Noel has been a friend and colleague for several years, I cannot standby and ignore these allegations.
"Sexual harassment, abuse and bullying have no place in our industry. Every woman has the right to a safe workplace and moving forward I pledge my dedication to this."
Clarke has starred in three series of Sky Original production Bulletproof and was due to appear in a fourth series of the police drama.
A spokesperson for Sky said: “Sky stands against all forms of sexual harassment and bullying and takes any allegations of this nature extremely seriously.
“Effective immediately, we have halted Noel Clarke’s involvement in any future Sky productions.”
Vertigo Films, the UK producers behind Bulletproof, said in a statement: “We are devastated to hear about these allegations and have launched an urgent investigation to find out if any apply to any Vertigo Films productions.