What do I do if my clothes touch urine?

Yes, it's easy to fix: wash the spot with water. Urine is impure (najis), so the part of your clothes it touched needs washing before you pray in them. You don't need to wash the whole outfit, and a normal washing machine cycle is fine. If you're not sure it touched you at all, your clothes are considered clean.
Just wash where it touched
Scholars agree that human urine is najis. To clean it, rinse the affected area with water until the urine is gone. Any color or smell that stays after a proper wash is excused. You don't need special soap, and you don't need to count washes.
When a Bedouin urinated inside the Prophet's ﷺ mosque, he didn't make a big deal of it. He told the Companions to pour a bucket of water over the place and said, "You have been sent to make things easy and not to make them difficult" (Sahih al-Bukhari 220). That's the spirit here too: water, and move on.
Is the washing machine enough?
Yes, according to most contemporary scholars. The machine rinses clothes with plenty of clean water and drains it away, which is exactly what washing needs. If there's a lot of urine, many people rinse the spot in the sink first so it doesn't spread around the drum. Clothes washed together with it are clean too once the cycle is done.
Tiny splashes and dry contact
- Tiny drops: the Hanafi school excuses liquid impurity smaller than the palm's hollow (about a coin's size) for prayer, though it's still better to wash it. Malikis and Shafi'is also excuse tiny splashes that are hard to avoid. The Hanbali school is stricter about urine.
- Dry on dry: if dry urine touches dry clothes, nothing transfers, so they stay clean.
- Unsure: if you don't know whether a splash reached you, assume it didn't.
Good bathroom habits help a lot. See Do Muslims have to use water instead of toilet paper?
Baby urine
Parents get a lighter rule. When a baby boy who hadn't started eating food urinated on the Prophet ﷺ, he poured water over it "and did not wash it" (Sahih al-Bukhari 223). He also said, "The urine of a female child should be washed (thoroughly) and the urine of a male child should be sprinkled over" (Sunan Abi Dawud 375, graded hasan sahih). The Shafi'i and Hanbali schools follow this for breastfed boys. The Hanafi and Maliki schools say to wash both. See Can I hold my baby while praying?
If you find yourself rewashing clothes again and again, that's often waswas, not care. See What is waswas and how do I deal with it?
- Wash only the spot the urine touched.
- A normal washing machine cycle cleans it.
- Tiny splashes are excused in several schools; doubt doesn't count.
- A breastfed boy's urine can be sprinkled in the Shafi'i and Hanbali view.
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