Hoof it
Definition 1 of 1
Pro Tip 1/3Casual Speech
Used in informal settings among friends or in a casual conversation. 
We missed the bus, looks like we're going to have to hoof it.
Pro Tip 2/3Unexpected Necessity
Often implies having to walk because another form of transportation is unavailable or impractical. 
The subway was closed, so I had to hoof it to my meeting.
Pro Tip 3/3Physical Effort
Suggests making an effort, sometimes more than desired, as it involves physical activity. 
After my bike got stolen, I hoofed it to school for a week.