1. English: nickname for someone who was in the habit of going about his business unshod, from Old English bæra ‘bare’, ‘naked’ + fot ‘foot’. It may have referred to a peasant unable to afford even the simplest type of footwear, or to someone who went barefoot as a religious penance.
2. In some instances, probably a translation of German Barfuss, the northern form Barfoth, or the Danish cognate Barfo(e)d.
There is also another possibility. In “The East Anglian,” by Charles Harold and Evelyn White (1904), in a section on wills, the will of one Francis Barfoote was probated in 1598. In a footnote, the author adds the following:
This plebian name of Barefoot is identical with that of the aristocratic Warwickshire family of Hereford or Beresford, who held a manor in the neighbouring parish of Clopton in the fourteenth century. I have noted the following different spellings, which mark its degradation:—Bereford, Berford, Barford, Barforth, Barfoot, Barefoot.
“Beresford” means “beaver-ford”. So, just because your last name is “Barefoot” does not mean that you had an ancestor who was named that for going barefoot.
However, I can guarantee that if you go back far enough, you will find an ancestor (actually, many ancestors) who went barefoot all the time.