Maybe you’re in a profession that requires you to be on your feet all day long (shout out to our teachers and medical professionals). Maybe you’re an athlete who pounds the pavement on a regular basis. Or maybe you just suffer from chronic foot pain due to an illness or ailment. No matter the reason, sometimes your feet need some tender love and care, but going to a physical therapist or professional masseur can be expensive and exhausting. Instead of spending afternoons at the spa or sticking your feet in an epsom salt bath to find relief, consider picking up one of the best foot massagers on the market to relax your tired, overworked feet.

Shop the best foot massagers here for relief from aches and pains.

If a foot massager sounds like an investment you’re ready to make for your aching feet, then we’ve got some good news for you: After conducting extensive research, searching through shopper reviews and poring over the data and specs, we rounded up the best foot massagers ready to be welcomed with open, er, feet, into your home.

Dimensions: 22 x 10 x 12 inches | Weight: 13.5 Pounds | Heat: No

This remote controlled foot massager is great for every part of your feet, including your ankles (the deep pockets cover the lower joints of the leg so they receive some therapy, too). You can choose from an array of massaging actions, like pulsing, rotating, kneading and rolling, or select the amount of time you want the machine to run and dictate which parts of your feet you want it to cover. For a well-rounded massage without any thought, there’s also an “auto” button that gets the massager going on a pre-set series that covers all of its features before it automatically shuts off when finished. A handheld remote controls each function, but there’s also an easy-to-read LCD touch panel on the machine for convenient control.

Beyond massage-related features, the sleeves are removable and washable, so the massager remains a clean and enjoyable experience for your entire household, while a non-slip bottom prevents it from sliding or skidding across the floor as you try to relax.

There isn’t a heat option here, but shoppers say they don’t miss it thanks to litany of customizable options. One reviewer even said that their partner returned their heated massager in exchange for this one after testing it out.

Dimensions: 13.58 x 3.62 x 9.06 inches | Weight: 4.18 Pounds | Heat: Yes

There are a few shiatsu foot massagers that made our list, but this one tops them all thanks to rave reviews, a great price point and a straightforward design that gets the job done. This affordable style has deep-kneading balls that work into your feet while the heat option helps your muscles relax and dissipate tension. The options here are simple—either massage with or without heat—but the five carefully-placed massagers target common pressure and pain points to deliver relief where it’s most needed. Plus, the simple design makes it a breeze to turn on and off with the tap of a toe. According to one reviewer, “It keeps your feet warm, you can apply just the perfect amount of pressure required and it’s super durable. It’s a perfect way to end a long day on your feet!”

Dimensions: 22 x 11 x 17.7 inches | Weight: 21.45 Pounds | Heat: Yes

All of the things you’d expect in a foot massager can be found here, but this massager takes it up a few notches by tending to your ankles and calves as well. All you have to do to give your legs a massage is flip the standing bar on the machine down so that your calves can rest comfortably inside the sleeves.

Not only does this shiatsu model use a rolling technique with massage heads, it also gently sways your legs back and forth to help loosen everything up. What’s more, it also combines heat and compression techniques to deliver a powerful, well-rounded massage for those overworked body parts below the knee. You can choose from three intensity levels, four speeds and six different massage techniques to target any area and provide relief to any ailment. “I purchased the Cloud Massage almost a year ago for my wife, who deals with almost constant foot pain,” noted one reviewer. “She has used this thing almost daily, and often multiple times a day.”

Dimensions: 15.75 x 14.17 x 3.15 inches | Weight: 7.63 Pounds | Heat: Yes

Anyone who suffers from chronically achey feet knows the sweet relief that targeted heat can provide. With this massager, heat is combined with six massage heads that have 18 total massager nodes, each of which rotate, roll and pulsate pain away. It has an ergonomic shape that makes it comfortable to rest your feet on top of, but because it embraces a flat design, you can also rest your calves or hamstrings on top, or even place it behind your back while sitting to massage other parts of your body.

The massager has over 15,000 five-star ratings. Shoppers say the heat “works great” and they appreciate that they can turn it on or off while using the massager. One even said they love it so much, they’d buy it “again and again.”

Dimensions: 22.99 x 15.55 x 9.69 inches | Weight: 19.45 Pounds | Heat: Yes

This is the newest model of Renpho’s popular massager. Designed to massage feet, calves, ankles, thighs and arms, this massager can accommodate up to size 14 feet—making it one of the largest and most size-inclusive machines on the market. It has eight massaging balls that operate at four different speeds, with or without heat, and the sleeves that your feet sit inside are removable and machine washable. Those massagers can also knead at three speeds and the heat can be powered on at three different temperatures. And all of this is controllable via a remote that doesn’t require you to bend over to press small buttons on the machine from an awkward angle, or attempt to use your toes to save your back from the unwanted strain.

“This foot massager is easy to use and easy to carry around,” noted one reviewer. “There is no set up; just take it out of the box and it’s ready! The remote control is very user friendly. My entire family has been able to use it for their tired and sore feet and it feels wonderful!”

Dimensions: 11.2 x 2.5 x 7.5 inches | Weight: 1.76 Pounds | Heat: No

It might not be an automatic machine with massage heads that rotate and pulsate at multiple speeds, but this massager is the lightest and easiest to use on our list. It lacks the bells and whistles, but it still gets the job done. The design allows you to use the weight of your body to press into the top of the massager and control the pressure, providing you with a strong or light massage for as long as you please. The wooden cylinders attached to the ergonomic platform feature small raised bumps that can help stimulate blood flow while working knots out of overused muscles, which provides pain relief. Plus, it comes with a detailed user guide to help you get the most out of the massager.

“Rolling my aching feet on this foot massager is heaven,” said one five-star reviewer. “It took a bit of getting used to but now I wouldn't be without it. May sound bizarre, but I keep it by the bed because all plantar fasciitis sufferers will testify to the fact that when you get out of bed and stand, it can be agony... about 90 seconds of rolling my feet on this and I'm good to go.”

Dimensions: 15.38 x 14 x 6.85 inches | Weight: 3.7 Pounds | Heat: No

Anyone who’s ever sat in a hot tub or had a pedicure knows how relaxing and effective a water jet can be on aching muscles. That concept was used to create this foot massager that has several jets that run the length of each side to provide continuous relief to each foot. It has raised massage nodes to press your feet into to work out knots, and the top of the tub has a lip that runs along the perimeter to prevent splashes and spills. This particular model is a best-seller on Amazon with over 19,000 five-star ratings from shoppers who say their feet “feel refreshed” after they use it and called it “exactly” what they were looking for to soothe painful feet.