To hoof it is to walk somewhere, especially when you'd rather not: The car broke down so we had to hoof it the last two miles.
The phrase suggests covering ground on foot out of necessity rather than choice, often implying a decent distance.
It can also mean to move quickly or hurry: We'd better hoof it if we want to catch that train.
1. walking — walk, Travel on foot; trudge (Walk slowly, heavily); march (Rhythmic group walk); stride (Extended single footstep); plod · shuffle · amble · stroll · saunter · tread · stomp · tramp · foot it · leg it
2. urgency — rush, Quick sudden movement; hurry (Move with urgency); dash (Quick burst or pinch); hustle (Energetic, aggressive action); scramble · sprint · bolt · scurry · flee · escape · run · hasten · scoot · beat feet