The Crows trailed by 22 points at the main break but booted seven goals to three in the third quarter to set up the 16.8 (104) to 15.10 (100) win and second place on the AFL ladder.
Dangerfield was probably best on ground though Crows skipper Nathan Van Berlo was inspirational and had good support from ruckman Sam Jacobs and defender Daniel Talia.
For Essendon Leroy Jetta starred while Jason Winderlich kicked four goals before leaving the field injured in the third quarter.
Essendon jumped Adelaide in the first quarter and, despite kicking into the breeze, raced to a 22-point lead mid-way through the term.
But the Crows fought back kicking three of the last four goals, including one squeezed through from the boundary by Van Berlo, to trail by just eight points at the first break.
The Crows showed more resolve in the second term, matching Winderlich's second major with a goal to Dangerfield.
But then it was all Essendon as they piled on three majors in a row including a third to Winderlich and a long-range shot from Michael Hurley which bounced through as the Crows left the goal square unguarded.
Only a great contested mark and goal to Patrick Dangerfield right on the half-time siren halted the Bombers' run and limited the home side's deficit.
In the third term the Crows piled on seven goals to three, the home side hitting the front for the first time in the match mid-way through the quarter as the Bombers lost Winderlich and Adelaide activated sub Richard Tambling for Jason Porplyzia.
The home side took a seven-point lead into the final break and though Essendon has most of the play managed to hold on, the victory sealed with Walker's fourth major.