If you look at the tomb paintings domestic servants and slaves went barefoot. Ancient Egyptians generally went barefoot even the Pharaoh. When they did wear shoes it was normally sandals made from papyrus or leather. They were only worn on special occasions or to protect their feet.
Which old days? Who's servants? It really depended on those two elements. Slaves were servants, and personal assistants are the modern servants. As you can see, there's a huge difference between the two, and there were servants that did everything you can imagine at some point in history.