Sayyiduna Mu'awiyah bin Abi Sufyan (may Allah be pleased with him) said: I asked Umm Habibah (may Allah be pleased with her), the wife of the Prophet (peace and blessings be upon him): Did the Messenger of Allah (peace and blessings be upon him) use to pray in the same garment in which he had intercourse with you? She said: "Yes, when he did not see any impurity on it."
Hadith Referenceالمعجم الكبير للطبراني / مسند النساء / 19712