clothing worn next to the skin under outer clothes.
Also called underclothes, underclothing.

1870–75; under- + wear

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Based on the Random House Dictionary, © Random House, Inc. 2014.
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World English Dictionary
underwear (ˈʌndəˌwɛə)
Also called: underclothes clothing worn under the outer garments, usually next to the skin

Collins English Dictionary - Complete & Unabridged 10th Edition
2009 © William Collins Sons & Co. Ltd. 1979, 1986 © HarperCollins
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Word Origin & History

1872, from under + wear (n.). So called because it is worn under one's clothing.
Online Etymology Dictionary, © 2010 Douglas Harper
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Example sentences for underwear
At first breeches indicated a cloth worn as underwear by both men and women.
These revivals focus on the corset as an item of outerwear rather than underwear.
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