Walking continues to be the primary mode of transportation in many sub-Saharan African cities, despite the prevailing challenges and safety concerns associated with walking conditions. The escalating presence of motorized traffic in these cities has further intensified the obstacles faced by pedestrians. In many regions of Africa, individuals rely on walking as their primary mode of transportation out of necessity and affordability, rather than for accessibility, safety, or enjoyment. While several studies have examined the state of walking infrastructure in Africa, this research aims to address a crucial knowledge gap by focusing on the quality of walking infrastructure in secondary cities across the continent. The objectives of the study are two-fold: first, to evaluate the quality of walking infrastructure along specific roads in Nakuru and Jinja; and two, to explore the experiences and perspectives of users regarding the quality of walking infrastructure in these two cities. By employing a mixed methods approach, the study revealed that the Pedestrian Level of Service (PLOS) was generally poor for the majority of roads in Nakuru and Jinja. The walking conditions were consistently described as unpleasant and unsafe, particularly for individuals living with disabilities (PLWDs). In light of these findings, the study puts forth two key recommendations. Firstly, it suggests the need to raise awareness about the concept of non-motorized transport (NMT) and emphasizes the importance of developing a comprehensive NMT policy. Secondly, the study highlights the significance of investing in inclusive walking infrastructure that caters to the needs of all user categories.