1

I'm actually having a hard time thinking of regular (i.e. non-hentai) shows that feature nudity. Here's my list so far:

Maken Ki
Shukufuku no Campanella
Ranma 1/2
Asobi ni Iku Yo
Ichiban Ushiro no Daimaou
Strike Witches (1/2 but not the movie)
Vividred Operation
Hanaukyo Maid Tai La Verite
Maji de Watashi ni Koi Shinasai

I can't shake the feeling that there are more that I'm not thinking of. It isn't actually something I seek out (despite posts like this one).

Another thing that's interesting is that it doesn't have an inverse correlation with story-telling quality. AsoIku and Daimaou and Strike Witches are really good stories. Maji de Watashi and Maken Ki really stink.

2

Here are a few more:

Hen Zemi
Queen's Blade
Aika Zero
Aika R-16

3 I don't recall if they're as "detailed" as these screencaps, but Koihime Musou and Sengoku Otome have plenty of bath scenes.  (And Hidamari Sketch has one per episode, but no details except on the rubber duck.)  Pretty sure Kampfer has some.   

Kanokon, {Bake,Nise,etc}monogatari, Sekirei (Funi's marketing tagline was "boobies for the win"), and Seikon no Milk Vampires, depending on where your hentai/not-hentai line is drawn.

Searching your own blog for "buy the DVD" or "buy the BD" would probably find a lot.

4 Divergence Eve?

5 The rules are, "nudity" == "nipples", and yeah, Divergence Eve FTW. Also Sekirei.

6 Seikirei & Divergence Eve also both fall into the "not bad story" categories.

Also, I think everyone missed the King of this category: the To Love-Ru series.  The first anime was toned down, but the rest sure weren't.

7 Would Popotan count as hentai, considering they changed almost everything from the game?

Mahromatic

APCG Nuku Nuku (at least I think there was).

There should be a fair amount of battle anime
Does Ikki Tousen fit?

8 Hagure Yuusha (reminded thanks to your header image in rotation)
Valkerie

I'm not sure if we are limiting series to what you have watched, but Freezing has a boatload of MCSA.

9

I feel stupid for forgetting Ikki Tousen.

I haven't seen To-Love Ru, so I didn't know about that.