The Collaborative International Dictionary of English v.0.48:

Footfall \Foot"fall`\, n.
   A setting down of the foot; a footstep; the sound of a
   footstep. --Shak.
   [1913 Webster]

         Seraphim, whose footfalls tinkled on the tufted floor.
                                                  --Poe.
   [1913 Webster]

WordNet (r) 3.0 (2006):

footfall
    n 1: the sound of a step of someone walking; "he heard footsteps
         on the porch" [syn: footfall, footstep, step]