All perfect praise be to Allaah, the Lord of the worlds. I testify that there is none worthy of worship except Allaah and that Muhammad, sallallaahu ‘alayhi wa sallam, is His slave and Messenger.
One of the conditions for the validity of the prayer is that the person’s body, garment and praying place should be clean from impurity, given Allaah's statement (what means): {And your clothing purify.} [Quran 74:4]
Whoever prays with a garment that is soiled with impurity while aware of it and able to purify it, his prayer will be invalid, and it is due on him to repeat it sooner or later. Hence, it is due on you to repeat the prayers that you have performed in the impure garments.
As for your Hajj, it is valid, and it is not due on you to repeat it, because Tahaarah (ritual purity) is not a condition for the validity of standing at ‘Arafah and Muzdalifah.
We also remind you that it is possible that the wetness that touched your garment in the toilet was not impure. It may have been clean. Furthermore, it is impermissible for a Muslim to let his feelings of embarrassment prevent him from doing what Allaah has enjoined upon him. Allaah Almighty is the worthiest of people’s fear and shyness.
Allaah Knows best.