The question of whether driving barefoot is safe isn't so cut and dry.

Summer may be waning, but it's still warm enough to kick off your shoes and run through the grass in your backyard or stroll barefoot along the beach.

But say you need to run a quick errand. Do you have to put your shoes back on to drive? Is it legal to drive barefoot?

Whether it's wise to do so is another question.

"I think police and safety experts may say wearing appropriate footwear is better for the pedal, your footwear can't slide off the pedal," said Mike Morse, an attorney whose firm specializes in personal injury lawsuits, and usually wears sneakers or loafers when he drives.

Now, he added, "If I only had flip flops that were slipping off my foot, I'd rather go barefoot."

But that could be problematic, too.

"If you hit one of my clients … if you said to me, 'I was driving barefoot, my foot slipped off the brake, the gas pedal, and I hit your client,' that's negligence. … So, it could hurt you in a civil case if you're not being careful."

Is it legal?

Barefoot driving is legal in all 50 states, with the one slight exception being Alabama where footwear is required on motorcycles.

This was confirmed back in 1994 when a man named Jason Heimbaugh wrote to every state's DMV to make sure the practice was indeed legal.

Is it safe, though?

The question of whether driving barefoot is safe isn't so cut and dry.

According to the Missouri State Highway Patrol, driving barefoot might be a safer option compared to driving with heeled shoes on, as they can reduce pedal feel for the driver. Thin flip-flops might also be a worse alternative, as they can bend up under the pedal, or cause your foot to slide off or twist in them while driving.

With that being said, driving barefoot can also be risky.

According to Speeding Ticket KC, a Kansas City, Missouri, traffic law firm, barefoot driving can reduce your grip or control on the pedals, and might lead to a foot injury if you need to stop suddenly or have an accident.

And, although driving barefoot isn't illegal, the law firm points out it can still play a role if you get into an accident or receive a citation. For instance, an officer or insurance adjuster might claim your lack of footwear contributed to reckless or careless driving, and the matter could even be brought up in court or during an insurance review.

The bottom line: Drive barefoot at your own risk.

This article originally appeared on Detroit Free Press: Is it legal to drive barefoot in your car?

Reporting by Georgea Kovanis, Detroit Free Press / Detroit Free Press

USA TODAY Network via Reuters Connect