A sole structure for an article of footwear includes an outer sole element, an inner sole element, and a membrane. The outer sole element has a first top surface and a recess formed in the first top surface. The recess is defined by an inner peripheral surface extending from the first top surface. The inner sole element is disposed within the recess and has a second top surface and an outer peripheral surface extending from the second top surface. The outer peripheral surface is spaced apart from and opposing the inner peripheral surface of the outer sole element to form a channel between the inner sole element and the outer sole element. The membrane is joined to the first top surface of the outer sole element to sealingly enclose the channel and define a chamber.