Walpole is a town located in the U.S. state of Massachusetts. It is within Norfolk County part of the Boston-Cambridge-Newton Metro Area. Walpole was incorporated in 1724. It has a total area of 21.0 square miles at 42°08′30″N 71°15′00″W. The elevation is 150 feet above sea level. As of the 2010 census data, it had a total population of 24,070. The population density was 1,174.1/sq mi. Estimated per capita income in 2016 was $41,571. Recent job growth is positively increased by 1.30 percent. The average travel time is 25 minutes. It has Zip codes 02081, 02032, and 02071.