I grant I never saw a goddess go; My mistress, when she walks, treads on the ground. And yet, by heaven, I think my love as rare As any she belied with false compare.
In different terms, Shakespeare is saying that the mistress is not exactly conventionally attractive in any way, but he still believes she is simply and elegant as any other lady. Only the mistress, unlike these other ladies, is not holding her attraction ‘talked up’ by unnecessary and laughable comparisons.