Walker, of Alloa in Clackmannanshire, was convicted of 23 charges of domestic abuse and one breach of the peace last month after a two-week trial.
The 71-year-old, who clung to his Dunfermline seat for 16 days after the verdict, returned to Edinburgh Sheriff Court today where he was sentenced by Sheriff Kathrine Mackie.
Sheriff Mackie found Walker guilty of assaulting his first wife Maureen Traquair on three separate occasions in the 1960s and 1980s. On one occasion he punched her in the face, giving her a black eye two weeks before they married in January 1967.
Ms Traquair told the court she had to buy concealer to hide the bruise on the couple's wedding day.
Walker was convicted of assaulting his second wife, Anne Gruber, 15 times between 1978 and 1984.
On various occasions Mrs Gruber was punched, slapped, kicked and pushed to the ground. Walker spat on her face, threw household items at her, threatened to pour hot coffee over her and pulled her hair.
He also breached the peace by leaping into Mrs Gruber's home brandishing an air rifle after she went out for a birthday meal with another man.
Walker was also found guilty of assaulting and injuring Mrs Gruber's 16-year-old daughter, Anne Louise Paterson, by repeatedly striking her on the head with a saucepan in 1978.
Mrs Gruber told the court: "He turned on her and whacked her repeatedly over the head with a yellow saucepan that was so badly broken up it was put in the bin. He battered her so hard she was down on the floor. Her head was bleeding and she was bruised."
The disgraced politician was found guilty of four assaults on his third wife Diana Walker, three of which involved slapping or punching her on the face. The attacks happened between June 1988 and January 1995.
She told the court her husband also recorded her phone calls and made her sign an agreement to do all household chores in their home.
Walker's crimes were committed at addresses in Edinburgh, Stirling, Midlothian and Alloa between 1967 and 1995.
Diana Walker told the court she spoke to journalists about her ex-husband after being "mad" to hear him supporting a women's aid project for victims of domestic abuse.
The former SNP MSP, who was suspended and later expelled from the party after the allegations surfaced in the Sunday Herald newspaper in March last year, denied all the charges. He said he had acted in self-defence in relation to three of them.
Giving evidence, Walker claimed he was the victim of "smearing" and that his ex-wives colluded to accuse him of domestic violence.
But Sheriff Mackie said Walker was not a credible witness and the evidence shows he was "controlling, domineering, demeaning and belittling" towards his former wives.
The sheriff said she preferred the evidence of the Crown witnesses, particularly Walker's ex-wives, who she found credible and reliable.
Walker initially refused to vacate his Holyrood seat after the verdict, despite pressure from campaigners and MSPs, the vast majority of whom signed a motion calling for him to step down.
He faced having his salary cut by 90% if jailed, after the parliament's corporate body recommended the move for MSPs who go to prison.
The politician finally resigned on September 7, blaming a "media onslaught" that made it impossible for him to continue.
Walker was elected to the Scottish Parliament in a surprise victory for the SNP two years ago.
On a night of success for the party, he beat the previous Liberal Democrat winner into third place and finished 590 votes above Labour.
The by-election to fill his Dunfermline seat will be held on Thursday October 24.