The Warriors confirmed on Wednesday the former State of Origin and Test centre would link with the club, when he exits Manly at the end of this season.
A premiership-winner at South Sydney in 2014, Walker was consigned to a bench role with Manly last year by adding spark off the interchange as a utility.
At the Warriors he will likely have a home as a centre, after operating on only one and two-year deals in recent seasons.
"He has proven himself among the competition's best and most consistent players over the last two seasons, a player very much on top of his game," Warriors general manager Craig Hodges said.
"He's a high-quality centre who can also play in the halves, at fullback and fill a role in the middle if required.
"Dylan's going to bring so much to our side from next season."
The news comes just days after Walker said he was happy to bide his time as a No.14 at the Sea Eagles but insisted he always had to put family first in contract decisions.
"It was just a good time for me to do a one-year deal (last November), see how it goes with football," Walker told AAP.
"I've got two little ones, so I've got to think about family first and where we want to be."
The Warriors have also already signed Cronulla half Luke Metcalf and Parramatta second-rower Marata Niukore for next season.
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