Genesis 2 v 25 Adam and his wife were both naked, and they felt no shame.

They had no need of clothing or any other restraints. They had no idea of what it meant to be ashamed of anything—the fact that they were naked was irrelevant in their sinless condition. Their lack of shame was not due to ignorance: it was due to innocence.

As chapter 3 will make clear, the shame we feel over being naked is tied to an awareness of one's own sinfulness and rebellion. We cover our nakedness out of a desire to hide our "true selves" from others, and because we fear what others will think about us.

Adam and Eve had no such sin, and they lived in freedom from any impulse to hide any part of themselves from God or each other.