Walter's son, and the next Constable of Gloucester Castle, was Miles FitzWalter of Gloucester, 1st Earl of Hereford (d. 1143) (alias Miles of Gloucester), Sheriff of Gloucestershire, a great magnate based in the west of England who became hereditary Constable of England. He was succeeded as Constable of Gloucester Castle by his eldest son Roger Fitzmiles, 2nd Earl of Hereford (d. 1155). Later it was retained by the Crown.
The succession of Walter's son Miles as Constable of Gloucester Castle marked the beginning of a new era for the family, with him going on to become a prominent figure in western England and eventually the hereditary Constable of England. This position was later retained by the Crown.