It comes on the eve of the 20th anniversary of the Shankill bombing of 1993, in which nine people lost their lives.
One of the bombers, Thomas Begley, was killed by the explosion.
Hundreds of people took part in Tuesday evening's event, including victims, residents, clergy and politicians.
The walk started at the scene of the Balmoral Showrooms bomb in December 1971, where two men and two children were killed.
It then proceeded to the site of the Bayardo Bar attack, in which five people died in 1975, before stopping at the place where the Shankill bomb exploded.
Memorial services took place and floral tributes were laid at each.
The walk then passed the site of the 1971 Four Step Inn bombing, which killed two people, and finished at the Mountainview Tavern, where five people died in 1975.
In total, 25 people were killed in bomb attacks on the Shankill Road.
North Belfast MP Nigel Dodds said: "I think the turnout here on the Shankill indicates the depth of feeling people have for the innocent victims here.
"This is a very respectful, prayerful and dignified act of remembrance organised by the community for the innocent victims and their families, and we will never forget them."