The maintenance industry has increasingly adopted climbing robotics to support human operators in dangerous operations in hazardous environments. The deployment of such robots is restricted by several technical challenges that constrain the dexterity and agility of the solutions, thereby limiting their effectiveness in complex applications and unstructured environments. Despite Reinforcement Learning and AI-based control strategies allowing the design of novel robot skills, the development of robust locomotion and strength adhesion systems represents the primary barrier to effectively deploying climbing policies in the real world. This paper introduces a versatile robotic foot for quadrupeds supporting robust climbing and walking gaits. The proposed solution has been conceived for the GRACE robot, a climbing quadruped for maintenance operations of ship tankers for crude oil transportation. The foot design supports walking gaits on horizontal surfaces similar to dog-inspired robots and allows grasping over various types of surfaces, thus supporting climbing movements across a variety of contexts. The paper presents the mechanical design, analytical calculations, experimental tests to quantify the foot’s limits and performance, and the kinematic limitation that arises from the proposed solution.