Is this a new behaviour or has it come on gradually?
"very stiff" and "hobbles... for a few hours" sounds a bit more worrying to me than just muscle cramps. I'd be inclined to book him a vet visit for a check up but I'd probably wait a week and take that time to closely monitor the situation - if only so that you can give more accurate information to the vet. Make a note of time and duration of walk, type of exercise, weather conditions/temp and observe his recovery afterward. How long does he sleep for; exactly what signs of impaired movement do you see; is it improved by exercise? Can he walk the stiffness off quite easily, and is he willing to try?
Do make sure you dry him thoroughly after his walks and you might want to look at at a fleecy coat (see
Equafleece for some examples) to keep him warm after you get back, or pop him under a blanket.
Hopefully, you won't need to do much more than modify his exercise but I do think it worth a closer look :)