diff --git a/doc/source/io.rst b/doc/source/io.rst
index ded314229225c..21a5f13d65d73 100644
--- a/doc/source/io.rst
+++ b/doc/source/io.rst
@@ -2677,6 +2677,19 @@ everything in the sub-store and BELOW, so be *careful*.
    store.remove('food')
    store
 
+You can walk through the group hierarchy using the ``walk`` method which
+will yield a tuple for each group key along with the relative keys of its contents.
+
+.. ipython:: python
+
+   for (path, subgroups, subkeys) in store.walk():
+       for subgroup in subgroups:
+           print('GROUP: {}/{}'.format(path, subgroup))
+       for subkey in subkeys:
+           key = '/'.join([path, subkey])
+           print('KEY: {}'.format(key))
+           print(store.get(key))
+
 .. _io.hdf5-types:
 
 Storing Mixed Types in a Table
diff --git a/doc/source/whatsnew/v0.17.0.txt b/doc/source/whatsnew/v0.17.0.txt
index 31b6bb0d5575d..30a268dd20f5b 100644
--- a/doc/source/whatsnew/v0.17.0.txt
+++ b/doc/source/whatsnew/v0.17.0.txt
@@ -255,6 +255,8 @@ Other enhancements
 
     pd.concat([foo, bar, baz], 1)
 
+- New method ``HDFStore.walk`` will recursively walk the group hierarchy of a HDF5 file (:issue:`10932`)
+
 .. _whatsnew_0170.api:
 
 .. _whatsnew_0170.api_breaking:
diff --git a/pandas/io/pytables.py b/pandas/io/pytables.py
index ea0a59ce2ab31..8d2e3c7ab1e25 100644
--- a/pandas/io/pytables.py
+++ b/pandas/io/pytables.py
@@ -1038,6 +1038,38 @@ def groups(self):
                  g._v_name != u('table')))
         ]
 
+    def walk(self):
+        """ Walk the pytables group hierarchy yielding the group name and pandas object names
+        for each group.  Any non-pandas PyTables objects that are not a group will be ignored.
+
+        Returns
+        -------
+        A generator yielding tuples (`path`, `groups`, `leaves`) where:
+
+        - `path` is the full path to a group,
+        - `groups` is a list of group names contained in `path`
+        - `leaves` is a list of pandas object names contained in `path`
+
+        """
+        _tables()
+        self._check_if_open()
+        for g in self._handle.walk_groups():
+            if getattr(g._v_attrs, 'pandas_type', None) is not None:
+                continue
+
+            groups = []
+            leaves = []
+            for child in g._v_children.values():
+                pandas_type = getattr(child._v_attrs, 'pandas_type', None)
+                if pandas_type is None:
+                    if isinstance(child, _table_mod.group.Group):
+                        groups.append(child._v_name)
+                else:
+                    leaves.append(child._v_name)
+
+            yield (g._v_pathname.rstrip('/'), groups, leaves)
+
+
     def get_node(self, key):
         """ return the node with the key or None if it does not exist """
         self._check_if_open()
diff --git a/pandas/io/tests/test_pytables.py b/pandas/io/tests/test_pytables.py
index b4f1e6a429198..74821eadf13a6 100644
--- a/pandas/io/tests/test_pytables.py
+++ b/pandas/io/tests/test_pytables.py
@@ -4813,6 +4813,45 @@ def test_read_nokey(self):
             df.to_hdf(path, 'df2', mode='a')
             self.assertRaises(ValueError, read_hdf, path)
 
+    # GH10143
+    def test_walk(self):
+
+        objs = {
+            'df1': pd.DataFrame([1,2,3]),
+            'df2': pd.DataFrame([4,5,6]),
+            'df3': pd.DataFrame([6,7,8]),
+            'df4': pd.DataFrame([9,10,11]),
+            's1': pd.Series([10,9,8]),
+            'a1': np.array([[1,2,3], [4,5,6]])
+            }
+
+        with ensure_clean_store('walk_groups.hdf', mode='w') as store:
+            store.put('/first_group/df1', objs['df1'])
+            store.put('/first_group/df2', objs['df2'])
+            store.put('/second_group/df3', objs['df3'])
+            store.put('/second_group/s1', objs['s1'])
+            store.put('/second_group/third_group/df4', objs['df4'])
+            g1 = store._handle.get_node('/first_group')
+            store._handle.create_array(g1, 'a1', objs['a1'])
+
+            expect = {
+                '': (set(['first_group', 'second_group']), set()),
+                '/first_group': (set(), set(['df1', 'df2'])),
+                '/second_group': (set(['third_group']), set(['df3', 's1'])),
+                '/second_group/third_group': (set(), set(['df4'])),
+            }
+
+            for path, groups, leaves in store.walk():
+                self.assertIn(path, expect)
+                expect_groups, expect_frames = expect[path]
+
+                self.assertEqual(expect_groups, set(groups))
+                self.assertEqual(expect_frames, set(leaves))
+                for leaf in leaves:
+                    frame_path = '/'.join([path, leaf])
+                    df = store.get(frame_path)
+                    self.assert_(df.equals(objs[leaf]))
+
 
 class TestHDFComplexValues(Base):
     # GH10447