Minogue's donation will be auctioned off on Thursday
A host of showbiz memorabilia donated by the stars will go under the hammer on Thursday, hosted by veteran presenter Wogan.
Among the coveted items up for grabs are a first edition copy of Harry Potter and the Goblet of Fire signed by JK Rowling and hair and beauty products donated by celebrities.
All the proceeds of the sale will go to the BBC's Children in Need fund, which has its live broadcast on Friday.
Minogue said she was delighted to donate her bright pink knickers with the word "lucky" embossed on the front to the good cause.
Other items in the sale include a pink marabou powder puff from Joan Collins, an art deco gold compact of Liz Hurley's and a pink hairbrush signed by Victoria Beckham.
Other stars who have given up prized possessions are Jerry Hall, Joanna Lumley, Cher and Geri Halliwell.
A Gibson guitar signed by the stars of this year's Country Music Awards such as Trisha Yearwood and Tim McGraw will also be available to bid for.
Or one successful bidder will be able to share a round of golf with Wogan himself.
Westlife
The grand total raised by Wake Up to Wogan listeners for BBC Children in Need last year was £122,730.
The official Children in Need song, Have You Ever, has been once again been recorded by S Club 7.
Chart-toppers Westlife are also doing their bit for the charity by jetting into Belfast this Friday to take part in one of the biggest Northern Ireland Children in Need fundraising events.
The Irish boy band, whose new album is set to enter the album charts at No 1 this week, is to perform at a special outdoor concert on Friday as part of the nationwide charity event.
Pudsy in the Park will also feature another Irish musical success story, the Corrs, who will perform some of their best known songs at the ticket-only event.