Is it normal for babies to tiptoe?

Toewalking. It is common for kids to toe-walk well into their second year. The toe grasp reflex initially makes this quite normal as they learn to walk but they usually settle & walk flat footed by two.Persistence after 3 is occasionally seen & will eventually result in decreased flexibility of the ankle. Physical therapy may be needed to maintain normal tendon length & improve walking.
Yes. It is common for infants to tiptoe. It is a sign that they are developing advanced balance. However, if you toddler cannot walk flat-footed and always tiptoes, that may indicate a problem. It may mean that your child has tight heel cords. Your provider can easily check for this at a routine examination.