Etymology
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skivvies (n.)

"underwear," by 1932, nautical slang, of unknown origin. An earlier skivvy/skivey was London slang for "female domestic servant" (1902).

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Definitions of skivvies

skivvies (n.)
(used in the plural) men's underwear consisting of cotton undershirt and underpants;
From wordnet.princeton.edu