Narrated Abu Huraira:

Allah’s Messenger (ﷺ) said, “None of you should walk, wearing one shoe only; he should either put on both shoes or put on no shoes whatsoever.”

Reported by Imam Al Bukhari Muslim and others.

Ash Shaykh Abdurrazaq Al Badr mentions in the explanation of Shamaail An Nabi of Imam At Tirmithi page 101

“It is mentioned that a questioner asked Ash Shaykh Ibn Baaz رحمه الله he said:

If the second shoe is a footstep or two away from me should I walk towards it with one shoe?

The Shaykh Said: If you are able to not oppose the Sunnah even if it be with one step, then do that (meaning don’t oppose the Sunnah even if it be with one footstep) 
Majid Jawed Al Afghanee