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In the U.S., I believe you aren't allowed to broadcast anything that is "obscene"...which is why you don't see hardcore porn on TV...
Nudity itself is not illegal, though each network has a Standards and Practices department (internal censors) that make the call about what they'll let on the air. This way, the network can help itself prevent loss of advertising revenue from sponsors pulling ads, etc.
In special circumstances, you'll see full nudity on even network television, as when NBC aired "Schindler's List" uncut, or the occasional nipple on shows like ER or CSI.
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