The underwear, auctioned alongside hundreds of other royal artefacts, sold for £9,735.
Two pairs of silk stockings worn by Britain's longest serving monarch also went under the hammer in Edinburgh – one pair selling for more than £5,000.
The collection belonged to the US publishing dynasty, the Forbes family, and was kept at their London home, Old Battersea House.
More than £3m was made in the sale of Victorian treasures held by auctioneers Lyon and Turnbull at their Edinburgh salesroom.
The sale also included more than 500 royal paintings, letters, furniture and other items from the Forbes home.
Simon Edsor, director of The Fine Art Society and art adviser to the Forbes family, said: "This is a great result and demonstrates how much interest from around the globe there is in royal memorabilia."
The Forbes family home hosted many public visitors over the years, including former US president Ronald Reagan and Hollywood star Dame Elizabeth Taylor.Post published in: World News