I'd stay on the safe side and keep him in. Parvo is everywhere, sad but true. I know too many people who didn't wait and were in tears. There will be lots of times for nice long walks. Our Vet told us not to take Princess out until 1 week after her last set of shots. I wasn't going to chance it, so that's what we did.
One week after her shots we had a nice play date to go on.