For nearly 20 years, millions of bare feet have marched through security checkpoints at airports around the country, a motley parade of hairy and Roman toes, calloused soles and cracked heels, nails black from marathons or chipped red from faded manicures. These feet are best enjoyed in private. Yet since 2006, they have been on stark display.

As of Tuesday, passengers at U.S. airports are no longer required to remove their shoes during the TSA screening process.

The TSA is now allowing travelers to wear shoes through airport security, ending a rule in place since 2006. Here's what to know in Michigan.

The TSA has eliminated the 19-year-old policy, effective immediately. Policies on liquids will remain in place.