Both sides struggled to create chances throughout and there was little to excite a paltry crowd of 3,331.
The visitors looked to have opened the scoring in the fourth minute, but Mark McCammon's close-range strike was ruled out for handball.
Steve Jones had Walsall's best chance of the opening period, but his rising drive was comfortably saved by visiting keeper Simon Royce.
The Saddlers had more of the ball after the break but failed to convert their possession into goals and Sam Parkin wasted a decent chance late on when he curled a left-footed shot wide of the far post. At the other end, Gillingham's highly-rated striker Simeon Jackson was denied by home goalkeeper Clayton Ince.
The final chance of the game fell to Gills forward Andy Barcham in injury-time, but he lost possession as he burst into the penalty box and the scores remained level.