Background Restless Legs Syndrome (RLS) is a sensorimotor condition with a wide range of severity. Symptoms negatively affect sleep and quality of life. Pharmacologic options are not universally effective and side effects are common. Objective data regarding non-pharmacologic treatment is limited. The study objective was to evaluate the efficacy of the MMF07 foot massager and heat therapy on the severity of RLS symptoms. Methods In this pilot randomized controlled trial, twenty-eight patients with diagnosed, bothersome RLS were randomized to four treatment arms: no active intervention (n = 7), foot massager (n = 8), heat therapy (n = 6), and foot massager plus heat therapy (n = 7). Participants completed the RLS Severity Scale, RLS Quality of Life questionnaire, and the Medical Outcomes Study Sleep scale at the baseline visit and at the 4-week follow up visit. Results Four weeks post randomization, participants in the massager group had significant improvement in the RLS severity score (average difference:-9.0, 95% CI:-16.3,-1.7, p = 0.017) and sleep scale (average difference:-22.0, 95% CI:-36.5,-7.5, p = 0.005) compared to the no intervention group. The heat alone group had a significant improvement in the sleep scale compared to the no-intervention group (average difference:-17.4, 95% CI:-32.5,-2.3, p = 0.026). Quality of life improved in the massage only group compared to control (average difference 25.3, 95% CI:-2.4, 53.0, p = 0.072). Conclusions Results suggest that the MMF07 foot massage device and heat therapy may be feasible and effective treatment options to improve RSL symptoms.