The item, among 150 lots which were on sale in Colchester, was sold to a collector from Braintree.
James Grinter, from Reeman Dansie auctioneers, said people liked to collect clothing and "you can't get more personal than royal pants", the BBC News reported.
"We commented that Queen Victoria would not have been amused - they were enormous and very rare," he added.
Bids in the royal auction were made from around the world and the auction sold 146 of the 150 lots for a total of about 42,000 pounds.
The most expensive item sold was a 15.5cm (6 inch) gilded presentation carriage clock, engraved with the inscription "Presented by HRH The Princess of Wales". It fetched 4,900 pounds.
The auction also featured a silver apple which was commissioned by Princess Diana and given as a gift to her dresser Fay Appleby to mark their first visit to New York in 1989.
It was bought for 3,700