Walpole is a town located in Norfolk County, Massachusetts. was first settled in 1659 and was officially incorporated in 1724. The town was named after Sir Robert Walpole.
According to the United States Census Bureau, the town has a total area of 54.4 km² (21.0 mi²). 53.2 km² (20.5 mi²) of it is land and 1.2 km² (0.5 mi²) of it is water. The total area is 2.19% water.