Rovers were caught out two minutes into the second half when Walters latched onto a through ball and coolly slotted home the only goal in a 1-0 win for the Potters.
Allardyce was pleased with how his side had defended up until that point and admits the lapse in concentration after the restart had cost his side a draw.
"It's disappointing to give such a goal away like that," Allardyce told Sky Sports.
"That's why I feel a little dejected about my own team not doing the defensive side of things correctly after doing it so well in the first half."
Rovers almost took the lead through Brett Emerton's volley in the first half but were then undone as Kenwyne Jones nodded on for Matthew Etherington to slip in Walters.
Allardyce added: "We found a few opportunities to try and break down Stoke and we hoped the one from Brett that got cleared off the line was going to be the goal.
"So it was a bit nip and tuck and then we came out for the second half and, instead of defending a simple ball down the middle, Kenwyne Jones flicks it on.
"And with that Jonathan Walters is put through and from our point of view it's diabolical defending and that was the real disappointment.
"Losing the first goal is always difficult to come back from in any game and, as hard as we tried when I changed the system, we had no real clear-cut chances.
"Perhaps a draw would have been a fairer result but we didn't manage that because of our own frailties.
"As a team Stoke are very good in the air on set-pieces and overall we defended them very well.
"But then the easiest one to defend, we didn't defend it, it's just a hopeful ball down the middle, a clearance really."
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