The collection also containing a gold cluster ring, a silver mirrored box and a silver holder still containing Braun's bright red lipstick was sold to a private collector based in the UK.
The briefs, part of a collection that went under the hammer at the Philip Serrell auction house in Malvern, Worcestershire, were estimated to sell for around 400 pounds, but fetched 2,900 pounds.
The knickers, featuring a lace and ribbon trim, are embroidered with Braun's initials, the auction house said.
"It is generally people fascinated with that period of history. I think people who were bidding on them were private collectors more than dealers," Sophie Jones, auctioneer and valuer at Philip Serrell, said.
A collection of early 20th century black and white photographs depicting Braun, some with Hitler, sold for 100 pounds at the auction.
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