I remember reading Walden quickly in high school because it seemed like a good thing to do. I decided to listen to the audio book via Librivox because it seemed like an enjoyable thing to do.
I was very pleased with certain parts of Walden. Thoreau's descriptions of his days, of the landscape, etc, are most enjoyable. Many of his critiques of modern man still apply with equal accuracy today. But as to his positive philosophiziing, his transcendentalism just doesn't cut the mustard. And he spends far too much time on it. He also is not quite the poet he apparently finds himself to be.
On the whole, I think it's a book worth reading, and I in no way regret listening to it. Gordon Mackenzie is, I believe, the fellow who read the version I listened to, and his reading style was thoroughly enjoyable.