Barefoot has 5 different meanings across 3 categories:
Wearing nothing on the feet.
"The children played happily in the grass while they were barefoot."
In plain English: Barefoot means having your feet without any shoes on them.
"The children played happily in the grass while running barefoot through the garden."
Wearing nothing on the feet.
"The children played in the garden barefoot to feel the cool grass between their toes."
In plain English: Barefoot means moving around without wearing any shoes on your feet.
"She ran barefoot across the grassy field to catch her friend before she disappeared into the trees."
A surname.
"The Barefoot family has lived in that valley for generations."
The word "barefoot" comes directly from Middle English and Old English, where it already meant having no shoes on its feet. It is a straightforward compound of the words for "bare" and "foot," so its meaning has remained consistent since entering the language.