An article of footwear includes an upper and a midsole positioned beneath the upper. The midsole includes an upper portion formed of a first material and a lower portion formed of a second material and positioned beneath the upper portion. The lower portion includes a plurality of support members spaced from adjacent support members. A plurality of connecting members extend between and are connected to adjacent support members, with the connecting members having a height that is less than a height of the support members to which the connecting members are connected, and an upper surface that is substantially flush with an upper surface of the support members to which the connecting members are connected.