In diabetic peripheral neuropathy, offloading high-plantar-pressure areas using statically offloaded customized insoles or expensive sensors and actuators are commonly-followed treatment procedures. In this article, we propose the concept of dynamically self-offloading therapeutic footwear that operates mechanically without using sensors and actuators. We achieve this by using an array of snapping arches. When a load higher than a bespoke value is applied, these arches enter negative-stiffness regime and offload the high-pressure region by snapping to a different shape. They again return to their initial shape when the load disappears. Thus, they serve as both sensors and actuators that get actuated by person’s body weight. We present an analytical method to compute the switching load and the switchback time of such arches and use them to customize the footwear according to the person’s body weight, gait speed, and foot size. We identify the high-pressure regions from the clinical data and place the arches such that these high-pressure regions get dynamically offloaded, and the pressure gets redistributed to other regions. We considered 200 kPa as a limiting pressure to prevent the prolonged effects of high plantar pressure. To check the efficacy of the concept, a complete 3D-printed prototype made of thermoplastic polyurethane was tested and compared with barefoot and in-shoe plantar pressure for subjects recruited at a clinical facility. We notice that the self-offloading insole shows the plantar pressure reduction at all the foot regions, and significant offloading of 57% is observed at the forefoot region.