Most foot injuries are not severe enough to need medical treatment and most foot injuries do heal on their own.
Even for a broken toe you don't always need medical attention for the broken toe.
However if the foot begins swelling, the toe begins swelling or the pain gets worse and doesn't heal within a week or two then it would be a good idea to see a doctor or go to the emergency room.
If you do have swelling that does not go away then your foot may be getting infected and if that is the case a doctors visit, walk in clinic or urgent care visit or the emergency room visit should be done.
But for most food injuries they heal on their own depending on how severe your foot injury is.
If you have a more severe foot injury then you should see a doctor about it just to be safe.
If you broke your foot then you should go to the emergency room or urgent care and get a cast on your foot until the broken foot does heal up.