Authorities say 25-year-old Anthony Janow surrendered Tuesday at the San Fernando courthouse. He was booked and released on $60,000 bail.
His attorney's name wasn't released.
Walker and driver Roger Rodas died Nov. 30 when their Porsche crashed in the Los Angeles suburb of Santa Clarita.
Prosecutors say Janow and 18-year-old Jameson Witty stole a roof panel as the wreckage was being towed.
They were charged Monday with felony grand theft of personal property and two misdemeanors. They face up to 4 1/2 years in jail if convicted.
Witty also is free on bail.
The coroner on Monday released Walker's body to a Hollywood mortuary.