If you wear skin-colored sandals, they'll your legs look longer. This follows along the same idea as not breaking up the leg with an ankle strap (or bootie). No colors interfere with the line of your leg. When it's cold out, tights and boots can match. This is the only way imaginable I could do ankle boots. Again, they cut at a weird length and make my legs look stocky.
In my searching for gladiator sandals, I found these Eileen Shields Helen sandals as possible contenders. I can't see myself spending that much money on sandals, being that summer shoes always seem to get seriously beat up and rarely last more than 2 seasons (even with trips to the cobbler). But the idea is there.