Garment missing last pocket (7)
I believe the answer is:
trouser
'pocket' is the definition.
(both can mean to steal or take)
'garment missing last' is the wordplay.
'garment' becomes 'trousers' (trousers is a kind of garment).
'missing last' means to remove the last letter.
'trousers' with its last letter removed is 'TROUSER'.
(Other definitions for trouser that I've seen before include "Pocket (slang)" , "Pocket (something)" , "Appropriate" , "For oneself" , "Our rest (anag)" .)