Multiple realities
(covers information from several alternate timelines)
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Mayweather in underwear

Travis Mayweather in his underwear

Starfleet underwear, alt 2259

Carol Marcus in her underwear

Kalo in his underwear

Kalo and a second hood in their underwear

Underwear was clothing worn next to the skin and underneath other clothing. Female underwear was sometimes known as lingerie or panties.

In 1986, when Spock swam in the whale tank at the Sausalito Cetacean Institute to mind meld with George and Gracie, he swam in his underwear. (Star Trek IV: The Voyage Home)

Like other garments, underwear could be made to withstand a variety of conditions, including fire. In 2152, Trip Tucker rebuffed T'Pol's suggestions that he push the engines of Enterprise NX-01 to their limits by saying that his underwear was flame-retardant, but he wasn't going to light himself on fire to prove it. (ENT: "Cease Fire")

Captain Jonathan Archer used to sleep in underwear but put on a shirt before contact with other people. (ENT: "Fortunate Son")

Travis Mayweather was in his underwear when he received a call from Captain Jonathan Archer who was asking if he could come done to launch bay one. (ENT: "Dead Stop")

In 2259 of the alternate reality, James T. Kirk took a peek at Carol Marcus and saw her in her underwear when she was changing. (Star Trek Into Darkness)

Kalo and a second Iotian hood were forced to sit in their underwear after James T. Kirk and Spock borrowed their clothes to fit in as Iotian gangster. (TOS: "A Piece of the Action")

Li Nalas was remembered as having killed Gul Zarale, an infamous Cardassian military leader on Bajor, in single combat, but he had actually shot Zarale while he was unarmed and in his underwear. (DS9: "The Homecoming")

In 2371, B'Elanna Torres accidentally walked in on a crewman who was wearing only his underwear when the ship was experiencing spacial distortions caused by an energy field. (VOY: "Twisted")

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