A slender steel pedestrian bridge suffers from excessive vibration under walking-induced excitations, which include vertical and lateral dynamic loads. Meanwhile, a slender footbridge may also be sensitive to the wind excitation. Excessive vibration will not only cause a serviceability problem, but also even a safety problem. Tuned mass dampers (TMDs) have been applied in slender steel bridges widely for vibration control. However, a passive TMD is sensitive to the frequency deviation. Though a semi-active TMD (STMD) can improve the control effect of a passive TMD to a great degree, there is no STMD and related research that can simultaneously control vertical and lateral walking and wind-induced vibrations of pedestrian bridges. To fill this blank, in this paper, a two-dimensional air spring based STMD (TDAS-STMD) is proposed. The TDAS-STMD is connected to the bridge through two vertical air springs and two lateral air springs, and the stiffness of each air spring can be retuned through adjusting its air pressure by an air pump. At the same time, the damping of TDAS-STMD can be adjusted in real time through changing the air gap between the conductor plate and permanent magnets by a step putter. The mechanical detail of TDAS-STMD and the combined variable stiffness and damping control algorithm are introduced firstly. Then, a simply supported steel footbridge which is sensitive to both vertical and lateral walking and wind-induced excitations is proposed as a case study. In the numerical simulation, the bridge is simplified as a Euler-Bernoulli beam with a constant section. A group of two optimized passive TMDs which implemented in vertical and lateral directions respectively are presented for comparison. Single pedestrian walking-induced vertical and lateral vibration, wind-induced lateral vibration, and a low-density random crowd-induced vertical and lateral vibration coupled with the wind-induced lateral vibration are both considered in the case study. Numerical results indicate that the TDAS-STMD can control vertical and lateral vibrations of the beam effectively and always has the best performance.