Most of the old 8 bit and 16 bit computers (C64, Spectrum, Amstrad, Atari ST and Amiga) had various Strip Poker titles. There were also a number of 'adult' arcade games released that revolved around the same theme although most of these were Mahjong games or Quix style games.
Not any official 'adult' releases for any of the home consoles as far as I'm aware. Consoles of the time were very much marketed as childrens machines so anyone releasing a strip type game would have been ripped to bits in the media. There are a few homebrew adult titles for most console systems though, although most only exist in rom form nowadays.
AFAIK the last console to have adult titles was the Atari 2600, with games like Custers Revenge, and Batchelor Party, although if you can get your rocks off to those you don't need a joystick, you need a very good psychiatrist.