Driving barefoot has always been legal in California, and in fact now it's legal in all 50 states:

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Driving barefoot has always been legal in California, and in fact in all 50 states: 
• When it became legal

  Driving barefoot has been legal since the 1990s, when Jason Heimbaugh wrote to each state's department of motor vehicles to confirm. 
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• Why it's legal

  There are no federal or state laws that prohibit driving barefoot. Law enforcement officers also don't have the authority to issue tickets for driving without shoes. 
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• Risks

  However, driving barefoot can be risky. The feet are sensitive, and most vehicles have pedals with abrasive surfaces that are meant to provide grip with footwear. Driving barefoot can reduce your grip and control on the pedals, which could lead to an accident. 
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• Reckless driving

  Choosing not to wear shoes could violate California's reckless driving laws if it puts others in danger or increases the chances of an accident. 
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• What to do

  While driving barefoot isn't illegal, it's recommended to wear appropriate footwear for safety and comfort. You can check with your city or municipality laws to see if there are any additional restrictions.