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One would use "to take a walk" to emphasize that one is walking for walking's sake, roughly speaking. For example, "I've got some free time, so I'm taking a walk on the beach."

One would use "to walk" in contexts where one is merely describing the physical action of walking. For example, "I'm walking home."

"I'm taking a walk on the beach" suggests the speaker is walking voluntarily and for fun. "I'm walking on the beach", on the other hand, is merely a description of the physical act of walking on a beach, with no other connotations.

One would use "to take a walk" to emphasize that one is walking for walking's sake, roughly speaking. For example, "I've got some free time, so I'm taking a walk on the beach."

One would use "to walk" in contexts where one is merely describing the physical action of walking. For example, "I'm walking home."

Now, Dictionary.com does give a second sense of "to walk" as "to move about or travel on foot for exercise or pleasure" (here). This second sense of "to walk" would be the first sense of "to take a walk", if the dictionary had an entry for it.

What this means is that "to take a walk" more strongly suggests that the walking is being done for exercise or pleasure than "to walk."

One would use "to take a walk" to emphasize that one is walking for walking's sake, roughly speaking. For example, "I've got some free time, so I'm taking a walk around on the beach."

One would use "to walk" in contexts where one is merely describing the action. For example, "I'm walking home."

"I'm taking a walk on the beach" suggests the speaker is walking voluntarily and for fun. "I'm walking on the beach", on the other hand, is merely a description of the physical act of walking on a beach, with no other connotations.

One would use "to take a walk" to emphasize that one is walking for walking's sake, roughly speaking. For example, "I've got some free time, so I'm taking a walk on the beach."

One would use "to walk" in contexts where one is merely describing the physical action of walking. For example, "I'm walking home."

"I'm taking a walk on the beach" suggests the speaker is walking voluntarily and for fun. "I'm walking on the beach", on the other hand, is merely a description of the physical act of walking on a beach, with no other connotations.

One would use "to take a walk" to emphasize that one is walking for walking's sake, roughly speaking. For example, "I've got some free time, so I'm taking a walk around the block."

One would use "to walk" in contexts where one is merely describing the action. For example, "I'm walking home."

One would use "to take a walk" to emphasize that one is walking for walking's sake, roughly speaking. For example, "I've got some free time, so I'm taking a walk around on the beach."

One would use "to walk" in contexts where one is merely describing the action. For example, "I'm walking home."

"I'm taking a walk on the beach" suggests the speaker is walking voluntarily and for fun. "I'm walking on the beach", on the other hand, is merely a description of the physical act of walking on a beach, with no other connotations.