I saw the Messenger of Allah ﷺ praying both barefoot and wearing sandals.
رأيت رسول الله ﷺ يصلي حافيا ومنتعلا.
Abu Dawud (653) and Ibn Majah (1038) both narrated it through the route of Husayn Muallim, from Amr bin Shuayb, from his father, from his grandfather, and he mentioned it. Amr bin Shuayb is truthful. For more, see the chapter on turning to the right and to the left, in the collection of chapters on the taslim.