'straight-footed' is a compound formed in Modern English from 'straight' + 'footed', where 'straight' originates from Old English 'streht' (from Proto-Germanic *straihtaz) meaning 'stretched' or 'direct', and 'footed' derives from 'foot' (Old English 'fōt') meaning 'foot'.

'straight' changed from Old English 'streht' (from Proto-Germanic *straihtaz) and 'foot' from Old English 'fōt'; these elements were compounded in Modern English to produce 'straight-footed'.

Initially the components referred to 'straight' (not bent or turned) and 'foot' (the foot); the compound has broadly retained the literal meaning of 'having feet pointing straight forward'.