Formal:
* Nightwear
* Sleepwear
* Nightclothes
Informal:
* PJs
* Jammies
* Sleep shirt (for a top)
* Sleep pants (for bottoms)
* Loungewear (if they're meant for relaxing around the house)
More specific:
* Robes
* Nightgowns
* Onesies
* Slippers (if you're thinking of footwear worn with pajamas)
The best word to use will depend on the situation and your desired level of formality.