The full idiom 读万卷书，行万里路 is "read ten thousand books, walk then thousand miles". It is about learning (reading the books) and then using that knowledge in life (walking the world) 1.

A couple of nice translations from yabla.com:

Knowledge comes from books and from experience of the world.
Learn as much as you can and do all you can.

In Esperanto I'd go with a known proverb, for example this one:

 Por sperto kaj lerno ne sufiĉas eterno

or this one:

 Vivu, progresu, sed lerni ne ĉesu

Alternatively, you could go with a simpler version like:

Vivu, lernu
Lernu, vivu

For the translation of "to walk" you might check this question: Should we use "marŝi" or "paŝi" for "to walk"?. The currently accepted answer lists many options and explains the differences.

For the translation of the full idiom 读万卷书，行万里路: "read ten thousand books, walk then thousand miles", one way to translate is to consider that it is about learning (reading the books) and then using that knowledge in life (walking the world) 1.

A couple of nice translations from chinese.yabla.com:

Knowledge comes from books and from experience of the world. 

Learn as much as you can and do all you can.

In Esperanto I'd go with a known proverb, for example this one:

 Por sperto kaj lerno ne sufiĉas eterno

or this one:

 Vivu, progresu, sed lerni ne ĉesu

Alternatively, you could go with a simpler version like:

Vivu, lernu
Lernu, vivu