The big retailer said it would test the "last-mile" delivery with the two ridesharing groups as well as the delivery startup Deliv in San Jose, California, and Denver, Colorado.
"We're thrilled about the possibility of delivering new convenient options to our customers, and about working with some transformative companies in this test," Walmart said in a statement.
"We'll start small and let our customers guide us, but testing new things like last-mile delivery allows us to better evaluate the various ways we can best serve our customers how, when and where they need us."
The new program ramps up Walmart's efforts to counter Amazon, which is offering same-day grocery and merchandise delivery in a number of cities. It also boosts the efforts of Uber and Lyft to expand beyond idesharing to delivery of goods.
Walmart said it expects to start the test program within two weeks, and noted that it already offers a similar service through its Sam's Club stores with Deliv for business members in Miami.
Customers will pay $7 to $10 extra for the delivery, which will be added to the online shopping bill, with no payment to the driver.
"It's all seamless to the customer," the statement said. "We'll also let them know their order is being delivered by a driver from Uber or Lyft."
The move comes amid an expansion of the AmazonFresh service by the US online giant, which partners with grocers for same-day delivery in some areas of California and New York as well as its hometown of Seattle, Washington.
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