This is certainly correct in British English. Unlike American English, which favours constructions such as 'take a walk', British English uses 'go for a xx' ( e.g. 'go for a drive') as standard.
There are also issues of word order:
Your sentence puts the focus on the reason why you went to this place, as in "Why did you go to Shorabil Lake?" > "I went to Shorabil Lake for a walk".
Having the time reference first also puts the emphasis on 'yesterday'. You'd often do this to make a contrast, e.g. "Yesterday, I went to Shorabil Lake for a walk. Usually, I go there to birdwatch."
If this is an answer to the question "What did you do yesterday?", you might say "I went for a walk at/near/round Shorabil Lake yesterday."
I hope that helps.