I have also been naked in non nudist zones, at night and after a few drinks. Again on holiday at a villa with friends and wandered off down the lane to the main road with a bottle of wine. 

When my friend gave up and walked back to the villa I walked along the beach myself. Feeling liberated by the alcohol I slipped off my top and skirt (no bra), and kicked my feet through the waves. I looked around and laughed dropped my panties into the outgoing tide and ran along the shore. I ran through the warm dark air my hands in the air then stopped to catch my breath. 

When I looked down I noticed I had a shadow coming off my legs and looked up to see a beachside restaurant filled people. I just stated laughing. One of the waiters started coming towards me with a robe so I just ran back along the beach. I did find my skirt and top easily enough but my panties were lost to the sea.