In a small bowl, whisk together the shallot, vinegar, and honey. Slowly pour in the olive oil, whisking constantly until emulsified. Season with salt and pepper.
Cut the tough bottoms off of each endive and separate the leaves. Squeeze the lemon juice over the pear slices to keep them from browning.
Divide the endive leaves and pear slices among four plates. Sprinkle each with blue cheese and toasted walnuts and drizzle with vinaigrette. Serve immediately.