We're a shoes off house. Dh actually has to take his work boots off outside.
In other peoples houses it usually varies. Ie. If its a party we're likely to keep our shoes on (as you may be walking in and out all the time) but if we were going to my parents, for example, we would take our shoes off at the door. I find most people are quite flexible with guests and leave it up to them and what they are comfortable with.