We analyze the spectrum of axions radiated from collapse of domain walls, which have received less attention in the literature. The evolution of topological defects related to the axion models is investigated by performing field-theoretic lattice simulations. We simulate the whole process of evolution of the defects, including the formation of global strings, the formation of domain walls, and the annihilation of the defects due to the tension of walls. The spectrum of radiated axions has a peak at the low frequency, which implies that axions produced by the collapse of domain walls are not highly relativistic. We revisit the relic abundance of cold dark matter axions and find that the contribution from the decay of defects can be comparable with the contribution from strings. This result leads to a more severe upper bound on the axion decay constant.