Booth, who agreed a new one-year deal prior to kick off at the Galpharm Stadium on Saturday, rose highest to plant a firm header past Walsall keeper Clayton Ince 10 minutes after the restart to clinch the Terriers' third win in a row in League One.
Town had taken the lead after 40 minutes through Danny Schofield, who finished with aplomb after being sent clear by Andy Holdsworth.
Walsall struggled to impose themselves in the first half, as both Alex Nicholls' and Kevin Betsy's shots were wide.
And Booth nearly wrapped up the three points midway through the second half, but his curled a drive was off target.
The lively Betsy almost reduced Walsall's arrears after 69 minutes but goalkeeper Matt Glennon palmed his effort out for a corner.