That put the Irish 2-1 up on aggregate and the win was all but secured when Walters volleyed in on 70 minutes.
The Republic join Northern Ireland, England and Wales in reaching France.
Fortune favours Ireland - finally
Ireland had threatened to shock France in 2009 - only for Thierry Henry's handball to deny them
On that occasion, the referee's failure to spot the France forward's blatant infringement in the play-off second leg in Paris led to the Republic's heartbreaking failure to qualify for the finals in South Africa.
But six years on, a hugely contentious decision by Dutch referee Bjorn Kuipers sent the Irish on their way to Euro 2016 as he ruled that Bosnian defender Zukanovic had handled Murphy's cross.
It looked more a case of ball to hand as Zukanovic had no chance to avoid the contact but Walters, back after his first-leg suspension, held his nerve to send his former Stoke City team-mate Asmir Begovic the wrong way from the spot.
It was to prove the game's pivotal moment.
O'Neill and Keane - an unlikely success story
Many had doubts over Martin O'Neill's Republic of Ireland partnership with Roy Keane
After the encouragement of a battling 1-1 draw against world champions Germany in Gelsenkirchen 13 months ago, the Republic's qualification hopes looked in grave doubt as a defeat by Scotland was followed by home draws against Poland and the Scots.
But last month's unlikely home victory over the Germans reignited the Republic's prospects and, despite the defeat by Poland three days later, they had put themselves in a position to challenge for a place in France via the play-offs.
With the Football Association of Ireland having already offered O'Neill a new deal, the duo will now be expected to remain in charge for the foreseeable future.
A victory against the odds
The Republic are not blessed with the strength in depth they once possessed - former defender Mark Lawrenson said afterwards that O'Neill "probably had the least talented group of players available of any Irish manager who has qualified".With captain John O'Shea and influential striker Shane Long not risked from the start because of injury, the under-strength Republic line-up included three Championship players - Derby duo Richard Keogh and Jeff Hendrick, plus Ipswich striker Daryl Murphy.
They looked to have a daunting task against a Bosnian side which included Chelsea goalkeeper Begovic, Roma duo Edin Dzeko and Miralem Pjanic, plus other Serie A stars Zukanovic and Lulic.
Hamburg's Emir Spahic was also in the Bosnian starting XI along with another Bundesliga player, Schalke's Sead Kolasinac.
Of the Republic's eight Premier League starters, Aston Villa defender Ciaran Clark had played only six times this season, while goalkeeper Darren Randolph had made only three starts for West Ham.
But a performance full of tenacity and endeavour ensured it was the hosts who were celebrating, leaving their more celebrated opponents contemplating an empty summer.
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