Being barefoot is great, with one big caveat. With nothing between you and the ground, your feet give you a ton of sensory feedback. Plus, with no shoes for artificial support, all the little muscles and joints of your foot get a workout.
The caveat? If you're not used to being barefoot, it's really easy to strain something by jumping in too quickly. All those little joints and muscles need time to adapt. Start out a little at a time, and slowly add time and intensity. Your feet will thank you.
To help maintain good foot health, check out our article about the feet and ankles.