Before a baby is able to walk then they do not really need any shoes to wear.
You should have the baby wear socks at least though when it's cold out or some baby booties to keep the babies feet warm when outside.
But when a baby is able to walk and they are walking around outside in public then they should wear shoes and not walk around barefoot.
However at home inside the house or in the yard the baby could walk around barefoot but just make sure there is nothing on the ground or the floor that the baby could step on and get injured.
A lot of babies who are walking are happiest when they are walking around barefoot so they should walk around barefoot as much as possible.
But when in public the baby should have shoes on especially if they are walking around.