The win also marked a coaching milestone for Valparaiso (10-2) as two generations of the Drew family combined for 1,000 wins. Dad Homer Drew coached 640 wins, Scott Drew 256 and his brother, current coach Bryce Drew, 104.
Walker, who missed the last four games to injury, and Peters sank back-to-back baskets to break a 5-5 tie. First, Walker rebounded his own miss and tipped it in, then he snared a defensive board and fed Peters for a jumper.
Peters also had 10 rebounds for his third double-double this season.
The Crusaders pushed the lead to 35-23 by halftime and led by as many as 31.
Dequon Miller was the only Missouri State player in double figures scoring 12 points. The Bears shot 32 percent (17-for-53).