Sayyiduna Abu Hurayrah (may Allah be pleased with him) said that in the Hajj before the Farewell Hajj, in which the Messenger of Allah (peace and blessings be upon him) had appointed Abu Bakr (may Allah be pleased with him) as leader, he sent me on the Day of Sacrifice with a group to announce among the people: "After this year no polytheist shall perform Hajj, and no one shall perform tawaf of the House naked."
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الحج / 9308
Sayyiduna Abdullah bin Abbas (may Allah be pleased with him) said: A woman too would perform tawaf of the House naked, saying: 'Al-yawma yabdu ba'duhu aw kulluhu, wa ma bada minhu fa-la uhilluhu' (Today some or all of it will appear, and whatever appears of it, I do not make it lawful). Then this verse was revealed: "O children of Adam, take your adornment at every place of prayer." [Surah al-A'raf: 31]
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الحج / 9309
Sayyiduna Abdullah bin Abbas (may Allah be pleased with him) said: In the Jahiliyyah a woman would perform tawaf of the House naked, placing a piece of cloth over her private parts, and she would say: "Today some or all of it will appear, and whatever appears of it, I do not make it lawful."
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الحج / 9310