Consider non-homogeneous zero-drift random walks in $\mathbb{R}^d$, $d \geq 2$, with the asymptotic increment covariance matrix $σ^2 (\mathbf{u})$ satisfying $\mathbf{u}^\top σ^2 (\mathbf{u}) \mathbf{u} = U$ and $\mathrm{tr}\ σ^2 (\mathbf{u}) = V$ in all in directions $\mathbf{u}\in\mathbb{S}^{d-1}$ for some positive constants $U<V$. In this paper we establish weak convergence of the radial component of the walk to a Bessel process with dimension $V/U$. This can be viewed as an extension of an invariance principle of Lamperti.