The award is the first for any UK town after the scheme itself was pioneered by Hebden Bridge Walkers' Action Group.
Crowds gathered for a special launch at Riverside Junior School Hebden Bridge before a series of workshops and guided walks took place.The event was attended by local dignitaries and walking enthusiasts, including action group chairman Andrew Bibby and chairman of the Ramblers' Association, Kate Ashbrook.
She said: "We hope this initiative will encourage as many people as possible to go for a walk and encourage the local authorities to get their paths in good order."
The project was supported by Hebden Royd Town Council and Calderdale Council, who worked with the action group to help repair footpaths and improve facilities.
Three new waymarked trails have been unveiled in Hebden Bridge and there are plans to make Mytholmroyd a Walkers are Welcome village.
Action group chairman Richard Peters said: "It really is thanks to the enthusiasm of others that we have been able to get here."