Undies
Undies definition by Slang.net - The Slang Dictionary
This page explains what the abbreviation "Undies" means. The definition, example, and related terms listed above have been manually compiled and written by the Slang.net team.
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Those who either have children or enjoy acting like children may use undies to mean "underwear." This immature abbreviation apparently originated in the year 1906.
Initially, undies was used to refer to only women's underwear. Now, undies can be used to refer to underwear worn by children of any gender. Also, if you are an adult who has no shame, you can use undies to refer to your own or another adult's underwear.