Texas Ranger Cordell Walker, a widower and father of two with his own moral code, returns home to Austin, TX, after being undercover for two years, only to discover there’s harder work to be done at home. As Walker attempts to reconnect with his creative and thoughtful son August and his headstrong, somewhat rebellious teenaged daughter Stella, he finds that he needs to navigate clashes with his family – Liam, Walker’s ADA brother who stepped in during Walker’s absence, his perceptive mother Abeline and his traditional rancher father Bonham. Walker’s former colleague, Larry James, is now his Ranger Captain. And Walker finds unexpected common ground with his new partner Micki Ramirez, one of the first women in Texas Rangers’ history while growing increasingly suspicious about the circumstances surrounding his wife’s death.

Walker continues to try to reconnect with his family but finds that his kids have developed new routines with Liam. Back at work, Captain James tells Walker he needs to get recertified to be a Ranger, but old memories of Emily hinder his progress. Micki investigates a suspicious fire.

Walker's life gets more complicated when his childhood best friend, Hoyt Rawlins, returns to town. Abeline is thrilled to have Hoyt home but Geri has conflicted feelings for her ex-boyfriend. Meanwhile, Micki has her suspicions about the real reason Hoyt returned to town.

Micki is uncomfortable with the spotlight Captain James puts on her during a current investigation. Walker talks to Liam about their parents and learns there was trouble while he was away. Trey applies for a new job in town while Stella starts community service and August stumbles upon some secrets from his father's time away undercover.

When his past unexpectedly collides with his present life, Walker is forced to resume his undercover identity to keep his family safe. Micki gets caught up in Walker's old case while August threatens to blow his father's cover. Trey starts his new job.

When Geri decides to sell the bar, it throws Walker for a loop. With so many memories attached to the bar, he asks Geri to reconsider and reminds her of all the good times they've had there with Emily and Hoyt. Meanwhile, Micki is shocked when her mother drops in unexpectedly.

Captain James and Liam follow up on a tip regarding Emily's murder. The duo head to Mexico for more answers but decide to keep their trip a secret from Walker. Meanwhile, Trey escorts Stella, August and the girls soccer team to an away game but when things take a dangerous turn Trey, Walker and Micki have to team up to save the kids. Micki learns some shocking news.

A tornado touches down in Austin and it's all hands on deck to keep the kids and community safe. Walker, Micki and Trey rush to the school where Stella, August and Ruby are at a school dance. Bonham and Abeline stop at a store for supplies where old memories resurface and the two are forced to discuss their marriage. Meanwhile, Liam and Bret get trapped in an elevator and everything Liam has been carrying on his shoulders gets the best of him and he makes a rash decision.

Walker and Captain James investigate a high stakes poker game where one of the players may have information on Emily's killer. However, the night takes a turn when Geri shows up to join the game. Meanwhile, Micki takes August and Stella on an unusual adventure.

With the Sidestep now in their name, Walker, Stella and August put their stamp on the place. Liam turns to Bonham for advice on a career move, while Micki and Trey work through the aftermath of his injuries after the hurricane. Stella confronts Clint about Trevor and his response prompts Stella to make a dangerous decision that will leave a permanent mark on the Walker family.

Walker and Geri are both unsure of their feelings for each other after their kiss and things get very complicated when Hoyt comes home from prison. However, the welcome home party is interrupted when Micki and Walker get word that Clint West is on the run.

The show flashes back to the days right before and after Emily's death and how the entire Walker family dealt with the sudden tragic loss.

Walker’s past comes back with a vengeance and it threatens the very thing he loves the most – his family.

Walker takes Stella and August on a road trip to discuss some devastating news. Meanwhile, Captain James enlists the help of Micki and Trey to find a missing military veteran.

Micki's real mother, Mercedes, tries to make amends with her daughter but Micki doesn't want anything to do with her. Walker steps in to help and lands in a heap of trouble. Meanwhile, August suffers from PTSD after what happened at the Ranch.

Captain James leads Micki and the team into a drug bust with a dirty cop, Officer Campbell at the center. However, after Campbell is inexplicably set free, he targets the Captain's son, DJ, in retaliation. Walker gives Trey advice on his future.

Walker and Micki investigate a bomb threat at the school that targeted Liam and Stan. Abeline and Bonham plan a vow renewal, and Trey's mother comes for a visit.

Walker’s world is shattered after receiving shocking news that changes everything.