Let G be reductive group over a non-Archimedean local field (e.g GL n (Q p ) ) and G ∨ (C) its Langlands dual. Jacquet's Whittaker function on G is essentially proportional to the character of an irreducible representation of G ∨ (C) (a Schur function if G = GL n (Q p )). We propose a probabilistic approach to this claim, known as the Shintani-Casselman-Shalika formula, when the group G has at least one minuscule cocharacter.Thanks to random walks on the group, we start by establishing a Poisson kernel formula for the non-Archimedean Whittaker function. The expression and its ingredients are similar to the one previously obtained by the author in the Archimedean case, hence a unified point of view.MSC 2010 subject classifications: 11F70, 11F85, 60B15, 60J45, 60J50