Objective: Through the evaluation of subjective comfort and plantar pressure during walking, integrating the subjective perception and biomechanical indexes, to explore the effect of personalized insole on foot perception and ankle function of normal foot. Methods: Sixteen male subjects with normal foot type were recruited, and the visual analog scale was used to evaluate the difference of subjective comfort index under the intervention of minimalist shoes and personalized insoles, the changes of time and plantar pressure in each stage of barefoot, minimalist shoes and personalized insoles were analyzed by single factor repeated measurement variance. Multiple linear regression was used to screen the main indexes that affect the overall comfort of shoes under very simple shoes and personalized insoles. Results: In the evaluation of subjective comfort, the overall comfort, heel cushioning, front foot cushioning, arch support, forefoot wrapping and foot control of shoes with personalized insoles were higher than those of simple shoes (P < 0.05). In the measurement of plantar pressure, the gait support buffer stage of walking with shoes was higher than that of barefoot and minimal shoes (P < 0.05), and the dynamic arch index of personalized insole was higher than that of minimalist shoes and barefoot walking (P < 0.05). The dynamic arch index of minimalist shoes was higher than that of barefoot (P < 0.05), and the proportion of foot impulse in personalized insoles was higher than that of barefoot walking (P < 0.05). When wearing shoes, the average slope of pressure center track was lower than that of barefoot (P < 0.05), and the slope of pressure center track of personalized insole was lower than that of minimalist shoes (P < 0.05). The results of linear regression showed that arch support and the proportion of middle foot impulse had significant influence on the overall comfort of shoes (P < 0.05). Conclusion: Personalized insole can improve the overall comfort of normal foot mainly through the influence of foot arch. After adding personalized insole, the cushioning ability and foot control ability of walking are improved, and the force deviation of foot on the coronal axis is reduced. Feet-insoles-shoes jointly affect the perception of human feet, insoles should be selected in many aspects, such as foot type, shoe conditions and insole materials.