I put my toes in some water with ice cubes after most of my runs. I have morton's toes, I think it's called (second toe is longer) and it's always tender. I do it to get the blood away from my toes to help prevent black toenails.
I'm not sure if you're supposed to do your whole foot or not, but I find it helpful for my toes.
If my run is longer than an hour I put a sweatshirt on and run cold water in the tub until it covers my thighs. Then in goes a 5# bag of ice. Soak for about 10 minutes (or as long as I can handle it) and then take a normal shower.
No soreness the next day even after a 2+ hour run.
Do a search on "ice bath" on this forum and you'll see that is a very common thing to do to help repair what you do to your legs on a longish run. My Training LogMy Race Log
The only time I've iced my feet after runs was after really long runs during marathon training. I'd do an ice bath after those and be a lot less sore the next day. I didn't bother for any of the weekday runs. My Training LogMy Race Log