An ambulatory protective device is configured to be worn on a person’s foot who has a foot condition, such as a diabetic foot condition. The ambulatory protective device includes an insole which has viscoelastic inserts located and otherwise disposed relative to non-viscous polymeric foam strata to create zones or areas on the insole characterized by reduced force or contact pressure when subjected to forces from the foot during ambulation when the ambulatory protective device is worn. Such contact-pressure reducing areas are located in the heel area and the forefoot area of the device. The ambulatory protective device, equipped with such insole, may be in the form of a shoe, boot, brace, cast, or walker, such as a CAM walker.