Some of the women's dresses (esp. Lydia's) throughout the series are cut quite low, showing ample cleavage.
Getting ready for an event, Lydia walks by in her under-dress/nightgown while changing upstairs (only cleavage is seen). She and Mr. Collins accidentally cross paths on his way up. Lydia starts giggling as Collins gives a horrified look, turning the other way.
As Mr. Darcy tells of his former dealings with Mr. Wickam, a flashback is shown of him walking in on Wickam as he has a scantily-dressed woman sitting on his lap (upper thighs and cleavage are seen).
Mr. Wickam and Lydia elope later in the series, living in London for a time before they are married. On a couple of occasions, we see Lydia caressing him while laying next to each other in bed (fully clothed).