One that’s cuddled is naked, we hear, underneath some lingerie (5,4)
I believe the answer is:
teddy bear
'one that's cuddled' is the definition.
(soft toy which may be cuddled)
'naked we hear underneath some lingerie' is the wordplay.
'naked' becomes 'bare' (synonyms).
'we hear' indicates a 'sounds like' (homophone) clue.
'underneath' is a charade indicator (letters next to each other) (I've seen this in other clues).
'some lingerie' becomes 'teddy' (type of lingerie).
'bare' is a homophone of 'bear'.
'bear' after 'teddy' is 'TEDDY BEAR'.
'is' is the link.
(Other definitions for teddy bear that I've seen before include "Rupert, perhaps" , "Soft toy" , "Stuffed toy" , "Child's toy, musically in picnic" , "Maybe Winnie" .)