A bicycle pedal assembly includes a pedal and a cleat. The pedal includes a body that rotates about a shaft. Front and rear clamping member are coupled to opposite ends of the pedal body. Each of the clamping members has an engagement surface facing in a first direction. The cleat has front and rear attachment portions that are selectively engageable with the pedal via the front and rear clamping members. Specifically, the front and rear attachment portions have front and rear offset coupling surfaces engageable with the front and rear engagement surfaces. The pedal and the cleat are configured to form a rear float pivot axis on a rear side of a center rotation axis of the pedal and a front cleat release pivot axis on a front side of the center rotation axis.