Princess Zelda is the namesake of the Legend of Zelda series.
In "The Ringer", Zelda is barefoot while enjoying the morning sun on her balcony, with Link commenting on the nice view she's offering him.
In "Underworld Connections", Zelda is barefoot in her nightgown, when saving Link from a fall (even if in previous frames she seems to wear boots).
In "Fairies in the Spring", Zelda is depicted wearing a pink swimsuit. She is barefoot but no closeups of her feet are shown.