For the first time since 2006, passengers at U.S. airports are allowed to keep their shoes on at security. “I like that rule,” said Mark Galimberti, who was flying from Pittsburgh to Seattle.

A 20-year rule requiring airline passengers to take off their shoes before going through TSA security checks has been removed, according to Homeland Security Secretary Kristi Noem.

Noem said new screening technology is allowing them to get rid of the shoe removal policy that was introduced in 2006 over bombing concerns. The TSA will now use “multiple layers of screening,” ...