
Quoting
flyingron
Note that the civil demand is 100% independent of your criminal charges. While geek is right that most of the respondents here (I'd be reticent to call them experts) recommend paying it, that is far from a universal view held by attorneys representing shoplifters. Of course if you ever intend to try to request lifting the trespass ban, making restitution might help.
You didn't say where this happened, but in most cases if the police were not informed immediately, they probably aren't going to be. It's possible that the complaint will be handled later (up to a year typically). The amount you stole largely is irrelevant. In some states you may find a complaint in the mail and an order to go down to the police department for fingerprints and mug shots prior to the trial. If you have ANY contact with the police or prosecutors office, decline to speak with them until you have an attorney representing you. Looking up one now wouldn't be a bad idea.
As pointed out, you can be guaranteed that Walmart will be less friendly the second time around. Just setting foot in the store is criminal. While they may not be running facial recognition on you, running afoul of anything (particularly being even suspected of shoftlifting), may result in you being held for the arrest on trespassing