Here are the words used for underwear during the Regency: Underclothing, under, underdress, and linen were all general terms used for what one wore close to one’s body.
Until the 1830s when waistlines began to drop to approximate the natural waist, petticoats were long and as depicted in the third picture. A chemise (also called a shift) could be either long or short. It was worn next to the body under the stays.
Unmentionables were actually breeches or trousers. interestingly, a man’s shirt was also considered underwear. It was considered scandalous for a man to not wear something over his shirt. Shirts did not open to the waist, but had either buttons or laces that went part way down. Men could opt to wear drawers (shown below) or merely tuck their shirts under crotch.
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ellaquinnauthor
Ella Quinn ~ Author 
Ella, was it proper for a ladies’ shift to be seen under her dress? Meaning, should the dress be longer than the shift, or the same length (with the expectation that it might be seen)? (I ask this because I just had made my first shift and it’s as long as my dress…now I’m wondering if I should hem it.) Should a ladies’ gown hide all of the undergarments (shift, stays, etc.)?
Hi Justine,
During the Regency the shift was not seen. That was a major change from the Georgian era and earlier when the sleeves of the shift were frequently seen.