Feminists

Of course several of the costumes were skin-tight, but I think the closest it ever got to what you describe is a flight attendant's uniform you steal to sneak aboard Air Force One--the skirt was short, but not that short (IIRC).

The point of that game was more about shooting bad guys and reptilian aliens. Female protagonist who's the best agent/murderer ever, explosions, no stupid romance subplot, etc.

I was going to say that Jedi Knight 2 fit the bill since everyone's fully clothed and often in robes or stormtrooper armor, but then I remembered that the antagonist's apprentice wears a low-cut unitard that only has one leg. She trades in the unitard for a "proper" pair of leather pants and a bikini top in Jedi Knight 3, but that isn't even the most notable underwear issue in that game.