I was quite pigeon-toed as a child, and often did trip over my own feet. I also had to keep my toenails short, as it was not uncommon for me to cut myself with them, when I did trip on my feet. I started with braces, and I don't remember why, but for whatever reason, they didn't work for me. Probably, because I spend most of my time barefoot, and always have. I ended up with exercises to strengthen my ankles, which we did at home - perhaps your pediatrician can recommend some - and a prescription to take ballet. Again, strengthening the ankles.
It might be worth noting, that I did have to teach myself to walk with my feet straight, and it became subconscious over time. But when I am really tired, I go pigeon-toed again, and sort of have to concentrate.