A bicycle pedal assembly includes a pedal body, a cleat, and a clamping unit for pressing a rear insert member of the cleat against a rear support portion of the pedal body. The pedal body includes a front support portion, a front stop element extending upwardly from a front end of the front support portion, and an upper stop element extending rearwardly from an upper end of the front stop element. A front insert member of the cleat is confined between the front support portion and the upper stop element of the pedal body. A cleat-pushing member is disposed movably on the pedal body, and is adjustable to press against the cleat. As such, the front insert member of the cleat is pressed against the upper stop element so as to prevent movement of the cleat relative to the pedal body.