Defense attorney Steve Richards said Walden has agreed to perform 50 hours of community service and continue counseling.
"He's not found guilty of anything at this time," Richards said Friday.
Richards said the charge will be dismissed in a year as long as Walden stays out of trouble.
The plea deal was reported on the Green Bay Press-Gazette's website Friday afternoon.
"There's no conviction," Richards said. "It satisfies our objectives."
It's not clear if Walden will be subject to discipline by the NFL. League spokesman Greg Aiello said Walden's status "will be reviewed under our policy."
Walden spent the weekend after Thanksgiving in jail after a Nov. 25 dispute with his girlfriend. He made a public apology to the Packers, his teammates and fans after he was released and continued to play for the team.
He was charged in December, entering a not guilty plea. If convicted, Walden would have faced up to 90 days in jail and a $1,000 fine.
Walden originally was arrested on a more serious charge, suspicion of felony domestic violence-substantial battery.
According to the complaint against Walden, girlfriend Erika T. Palmer originally told police that Walden pushed her, causing her to fall and hit a bed post and cut her forehead. Palmer said she then attempted to punch Walden in self-defense.
The complaint said that once Palmer found out Walden would be arrested, she began to change her story to say instead that she provoked Walden.