The actor appointed his father to manage his affairs upon his death. Walker's mother is named guardian of his now 15-year-old daughter, Meadow.
Walker's will was prepared in 2001, the same year he helped launch the successful "Fast & Furious" film franchise.
Records show Walker's estate is expected to earn another $8 million, some of which is likely related to the seventh "Fast & Furious" film scheduled to be released in April 2015.
Walker, 40, died in a fiery crash in November when the Porsche his friend, Roger Rodas, was driving struck a light pole and tree.
A probate hearing regarding Walker's estate will be held on Feb. 20 in Santa Barbara.
The Associated Press contributed to this report.