New signings Gordon Greer, and Hal Robson-Kanu both started their first games for Swindon.
Swindon took the lead after only 8 minutes with a shot from Kevin Amankwaah's finding it's way through a crowded box and into the back of the net to make it 1-0.
Swindon doubled their lead on 29 minutes with a 25 yard shot from Simon Cox hitting the back of the net making it 2-0.
Swindon had most of the ball in the first half, and could have made it 3-0 or 4-0 before half time, but had to settle for 2-0.
On 49 minutes Billy Paynter made it 3-0 with a shot from the edge of the box going under the Walsall 'keeper and into the goal.
Walsall pulled a goal back on 75 minutes after a mistake by Ifil allowed Ibehre a chance to score.
Then two minutes later Deeney made it 3-2 to keep Swindon hanging on for the final 15 minutes.
Overall a good game which Swindon deserved to win, but it should have been by a bigger margin. Swindon's next game is the away trip to Oldham on Saturday.