It's an offense in Virginia
But Tommy, I think it's actually a myth. Everyone assumes it's illegal (like I did). Even in Virginia there doesn't seem to be any law against barefoot driving, even though they don't recommend it, along with driving in heels too.
Not trying to fight it, lol. I would accept if it were true. However, I'm pretty sure that if you got in a wreck and they knew you were barefoot that it could be used against you.