Shulchan Aruch Orach Chayim 240:4 (The Kitzur Shulchan Aruch of R' Ganzfried (150:5) quotes him verbatim, and I'm quoting the translation of the Kitzur by R' Eliyahu Touger):
It is forbidden to look at a woman's genitalia. Any person who looks at a woman's genitalia has no shame and violates the charge [Micha 6:8] "Walk modestly with your God." Going against this natural tendency for embarrassment [is serious], because a person with this tendency will not sin, as [Shemot 20:17] states "For this reason, the awe of Him [i.e., the tendency to modesty] shall be upon you, so that you shall not sin". Furthermore, such a person encourages his evil inclination to take control of him.
It follows, therefore, that a woman shouldn't ever appear in front of her husband completely naked.
I'm having a harder time sorting out what the halachot would be when she's nearly naked. Since there are to be halachot when she's in niddah prohibiting him from seeing parts of her body that are usually kept covered, there may be a diyuk that permits it when she's permitted to him.
On the other hand, there's a prohibition against having marital relations when there's light in the room, a halacha which stems from v'ahavta l'reyacha kamocha since maybe he'll see something about her that disgusts him. There are two halachot that stem from v'ahavta l'reyacha kamocha with the specific concern that maybe he'll see something about her that disgusts him: it's the source of the prohibition of having martial relations when there's light in the room, and it's also the reason for the requirement that a man see his prospective bride before marrying her (Kiddushin 41a). Consequently, it seems to me on the machmir side that maybe he shouldn't see any part of her that he would not have been allowed to see before they were married, so that he won't turn out to be disgusted by something he couldn't see before they got married. I'll need to ask my rav about this.
I'm sure that a woman and her daughter presents a different situation (which is possibly more lenient). A woman and her son is almost certainly more machmir above a certain age.