Norwalk, Wisconsin was given its name by Selium McGary, one of the pioneers of Monroe County, who named it after Norwalk, Ohio, where he had previously lived. It is located on what was once the main line of the Chicago and North Western Railroad, which in the 1960s was converted into the Elroy-Sparta Bike Trail.
Norwalk is located on the northern edge of the Kickapoo River Valley.Moore Creek, a tributary of the Kickapoo River, runs through the Village. The Kickapoo River runs through the Village of Wilton, to the southeast of Norwalk. The Kickapoo River Valley is located in what is known as the Driftless Area of Wisconsin, the only area in Wisconsin not covered by glaciers during the last Ice Age. Due to its unique geological history, the steep hill and valley landscape differs from the rest of Wisconsin’s generally flat landscape.