Regarding the laws on nudity; The Crown Prosecution Service states that every case should be considered individually and that ‘a balance needs to be struck between the naturist’s right to freedom of expression and the right of the wider public to be protected from harassment, alarm and distress’.
They also go on to say 'naturists shouldn't be prosecuted unless they are involved in an offence other than public nudity'.
Like sunbathing in the nude, skinny dipping is not considered a crime and there is no specific legislation which prohibits it.