An article of footwear is disclosed that includes an upper and a sole structure secured to the upper. The sole structure includes a connecting portion positioned adjacent the upper and extending along a longitudinal length of the upper. A plurality of discrete sole elements extend downward from the connecting portion. The sole elements define a lower surface, and the sole elements are separated by a plurality of sipes that extend upward from the lower surface and into the sole structure. An outsole may be located within the sipes or grooves and extend between the sole elements, with a lower portion of the outsole extending beyond the lower surface of the sole elements.