Walking is a healthy, cheap and environment-friendly way of travelling. Besides some studies finding effects of the built environment on walking behaviour, the influence of perceived neighbourhood walkability on walking remains largely unknown. In this study, we apply and validate the Short Perceived Walkability Scale (SPWS), a recently developed and compact scale to measure perceived walkability, and analyse its determinants in three European cities, i.e., Gothenburg, Dortmund, and Genoa. Additionally, we examine how perceived walkability can influence walking behaviour. Results show that the SPWS is a reliable measure of perceived walkability and that three types of perceived walkability can be distinguished. This perceived walkability is mainly affected by walking attitudes and to a certain extent by the spatial context. Respondents with higher levels of perceived walkability also walk more frequently, and have longer walk durations and distances, although variations occur depending on the type of perceived walkability and purpose of travel. Increasing perceived walkability levels can therefore stimulate walking and help in realising a modal shift away from car use. This could be done by improving people's walking attitudes, for instance by improving pedestrian infrastructure and removing walking barriers.