Islam has allowed nudity between a husband and a wife. It's something Prophet Mohammed himself did.
Allah said in Surah al-Muminun 23:5-6 =
"And those who guard their modesty, except from their wives or that their right hands possess, for then, they are free from blame."
The words translated as "their modesty" is "layforujihim" of which rooted in "fa raa jeem" meaning modest or chaste.
So Allah is allowing us to expose ourselves and not be modest with our wives.
It's well known that the Prophet Mohammed use to take baths together with his wife using one vessel. The hadiths are found in Sahih al-Bukhari, Sahih Muslim, Sunan Abu Dawud.