What is the ruling on praying barefoot?

It is permissible for the worshiper to pray barefoot, just as it is permissible for him to pray wearing his shoes. It has been authentically reported that the Prophet, peace and blessings be upon him, used to pray in his sandals. As for uncovering the feet during prayer, there is no harm in it for a man, while for a woman, there is a difference of opinion mentioned in Fatwa no. 33132.