Sayyiduna Muawiyah bin Sufyan (may Allah be pleased with him) narrated from his sister, Sayyidah Umm Habibah (may Allah be pleased with her), the wife of the Messenger of Allah (peace and blessings be upon him), that he asked Sayyidah Umm Habibah (may Allah be pleased with her): Did the Messenger of Allah (peace and blessings be upon him) pray in the same garment in which he had intercourse with you? She said: Yes, (he would pray in it) as long as he did not see any impurity on that garment.
Hadith Referenceسنن دارمي / من كتاب الصللاة / 1414
Hadith Takhrijاس روایت کی یہ سند صحیح ہے۔ دیکھئے: [أبوداؤد 366] ، [نسائي 293] ، [ابن ماجه 540] ، [أبويعلی 7126] ، [ابن حبان 2331]
Brief Explanation
(Commentary on Ahadith 1412 to 1414)
From this hadith, it is understood that if one has had intercourse in certain clothes, and there is no suspicion of impurity (najasah) having come upon them, then it is permissible to pray in those clothes.
Because among the conditions (shurut) of prayer is that the clothes, the body, and the place of prayer must all be pure (tahir).