This is due to neuropathy. Neuropathy is a common problem for diabetics. My doctor recommended I take 200 mg of Vitamin B6 daily and it does help.

It's neuropathy, which is a common problem associated with diabetes. I suffer from it and my physician recommended that I take 200 mg vitamin B6 daily. It has helped.

If its only when you walk it may be a good idea to talk with you care giver. It could be something else!
How long have you been diabetic?.
Are you well controlled?
Do you ever have pain or tingling in your feet.?