Spurs finished fourth last season but had their place in Europe's elite club competition taken by Chelsea after they won the tournament outright.
Walker believes that the current squad are good enough to put that right this season under the guidance of Andre Villas-Boas.
He told Sky Sports News: "With the players we have and the players we brought in, I am more than confident we can finish in the top four.
"We just need to keep listening to the gaffer and his tactics. If we do that then I most definitely think that we will get the results we need.
"It was disappointing how it went last year but that's just the way it goes."
Spurs continue their Premier League campaign this weekend with a trip to reigning champions Manchester City.