[edit] Steps

Try to get your child to shower or bath every day.
Ask your child to dry their feet straight after they get out of the shower or bath.
Clip their toe nails regularly. If the white parts are longer than the thickness of a two pence coin, clip them off to avoid ingrown toe nails. Nails should be cut straight over. File down any edgy corners.
Let them go barefoot. Contrary to popular belief, the human foot was created to be a strong and capable appendage. There is also compelling medical evidence to suggest that habitual 'barefooting' significantly lowers the risk of foot, leg, and back problems later in life. Posture will be improved, and the child is far more comfortable. Unless there are regional risks like poisonous plants or animals, it is extremely unlikely that anything serious will happen. By the way, a small cut or scratch is not serious.
Make sure you buy new shoes for kids that grow fast. Too small shoes are painful, and can cause ingrown nails.

[edit] Tips

Buy a new pair of nail clippers every 5 months, (they're not that expensive), or make sure they are reasonably sharp.
Encourage your child to try and clip their own toe and finger nails so they will be used to it when they grow up.
Tickle your child's feet. This will keep your child healthy and laughing.

DO NOT cut your child's toe nails curved - always cut them straight across.
Hot concrete and road can hurt their feet. It's probably a good idea to have them wear thongs or sandals on a hot day.
If you allow your child in public barefoot, you may face ignorant stigma. Don't be phased by this - the public doesn't always know what's best.