diff --git a/ChangeLog b/ChangeLog
index 2dc3aba713..33128066dd 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -26,6 +26,10 @@ Release date: TBA
 
 * Add an faq detailing which messages to disable to avoid duplicates w/ other popular linters
 
+* Fix superfluous-parens false-positive for the walrus operator
+
+  Close #3383
+
 * Fix a bug with `ignore-docstrings` ignoring all lines in a module
 
 * Fix `pre-commit` config that could lead to undetected duplicate lines of code
diff --git a/doc/whatsnew/2.6.rst b/doc/whatsnew/2.6.rst
index 5ab2028c16..dc659d6562 100644
--- a/doc/whatsnew/2.6.rst
+++ b/doc/whatsnew/2.6.rst
@@ -23,3 +23,5 @@ Other Changes
 * The `no-space-check` option has been removed, it's no longer possible to consider empty line like a `trailing-whitespace` by using clever options.
 
 * `mixed-indentation` has been removed, it is no longer useful since TabError is included directly in python3
+
+* Fix superfluous-parens false-positive for the walrus operator
diff --git a/pylint/checkers/format.py b/pylint/checkers/format.py
index 130ddd0c5f..52d852a258 100644
--- a/pylint/checkers/format.py
+++ b/pylint/checkers/format.py
@@ -52,8 +52,8 @@
 
 import tokenize
 from functools import reduce  # pylint: disable=redefined-builtin
-from typing import List
 from tokenize import TokenInfo
+from typing import List
 
 from astroid import nodes
 
@@ -371,14 +371,25 @@ def _check_keyword_parentheses(self, tokens: List[TokenInfo], start: int) -> Non
         if tokens[start + 1].string != "(":
             return
         found_and_or = False
+        contains_walrus_operator = False
+        walrus_operator_depth = 0
         depth = 0
         keyword_token = str(tokens[start].string)
         line_num = tokens[start].start[0]
         for i in range(start, len(tokens) - 1):
             token = tokens[i]
+
             # If we hit a newline, then assume any parens were for continuation.
             if token.type == tokenize.NL:
                 return
+            # Since the walrus operator doesn't exist below python3.8, the tokenizer
+            # generates independent tokens
+            if (
+                token.string == ":="  #  <-- python3.8+ path
+                or token.string + tokens[i + 1].string == ":="
+            ):
+                contains_walrus_operator = True
+                walrus_operator_depth = depth
             if token.string == "(":
                 depth += 1
             elif token.string == ")":
@@ -386,10 +397,14 @@ def _check_keyword_parentheses(self, tokens: List[TokenInfo], start: int) -> Non
                 if depth:
                     continue
                 # ')' can't happen after if (foo), since it would be a syntax error.
-                if (tokens[i + 1].string in (":", ")", "]", "}", "in") or
-                        tokens[i + 1].type in
-                         (tokenize.NEWLINE, tokenize.ENDMARKER, tokenize.COMMENT)):
+                if tokens[i + 1].string in (":", ")", "]", "}", "in") or tokens[
+                    i + 1
+                ].type in (tokenize.NEWLINE, tokenize.ENDMARKER, tokenize.COMMENT):
                     # The empty tuple () is always accepted.
+                    if contains_walrus_operator and walrus_operator_depth - 1 == depth:
+                        # Reset variable for possible following expressions
+                        contains_walrus_operator = False
+                        continue
                     if i == start + 2:
                         return
                     if keyword_token == "not":
diff --git a/tests/checkers/unittest_format.py b/tests/checkers/unittest_format.py
index 7c07ac9ed7..562649eb93 100644
--- a/tests/checkers/unittest_format.py
+++ b/tests/checkers/unittest_format.py
@@ -184,6 +184,27 @@ def testCheckKeywordParensHandlesUnnecessaryParens(self):
             with self.assertAddsMessages(msg):
                 self.checker._check_keyword_parentheses(_tokenize_str(code), offset)
 
+    def testNoSuperfluousParensWalrusOperatorIf(self):
+        """Parenthesis change the meaning of assignment in the walrus operator
+        and so are not superfluous:"""
+        code = "if (odd := is_odd(i))"
+        offset = 0
+        with self.assertNoMessages():
+            self.checker._check_keyword_parentheses(_tokenize_str(code), offset)
+
+    def testPositiveSuperfluousParensWalrusOperatorIf(self):
+        """Test positive superfluous parens with the walrus operator"""
+        code = "if ((odd := is_odd(i))):"
+        msg = Message("superfluous-parens", line=1, args="if")
+        with self.assertAddsMessages(msg):
+            self.checker._check_keyword_parentheses(_tokenize_str(code), 0)
+
+    def testNoSuperfluousParensWalrusOperatorNot(self):
+        """Test superfluous-parens with the not operator"""
+        code = "not (foo := 5)"
+        with self.assertNoMessages():
+            self.checker._check_keyword_parentheses(_tokenize_str(code), 0)
+
     def testCheckIfArgsAreNotUnicode(self):
         cases = [("if (foo):", 0), ("assert (1 == 1)", 0)]