Yes long brisk walks of 5 to 10 miles or more per day can help you build endurance and stamina.
The further you're able to walk the more stamina and endurance you'll buildup as a result and not only will walking increase and build stamina and endurance it also helps improve your overall health.
By walking daily you will help keep your heart healthy, lower your blood pressure, reduce your risk of heart disease, strokes etc and have more energy as a result.
Walking also helps keep your leg muscles strong and your overall body strong as a result.
Walking is a very good healthy exercise and the longer you walk the better.