An article of footwear has an upper with tensioning components. The upper includes a fastening system with a tensioning device. The tensioning device may be utilized with a plurality of cables. The tensioning device is removably attached to the upper by a clasp element to facilitate entry of a foot into the article of footwear, or exit of a foot from the article of footwear. The tensioning device can allow the lengths of the cables to readily change in order to accommodate different foot shapes.