Yes, this is normal.
Every woman has a discharge. Clear, slightly milky, sometimes yellowish as it dries on panties. It depends upon where in your cycle you are as to what the colour and amount and consistency as it may change according to hormonal fluctuations. It's healthy as it keeps the vaginal tissues lubricated. It does lessen as you age and get near menopausal years and then, women are wishing for it to come back because we become dry in our vaginal walls and tissues. It can also increase in amount when becoming sexually aroused. It's our bodies' way of functioning and keeping things in the genital area working optimally. It also flushes out dead skin cells from vaginal tissues. It has its purpose.
The only things that become something to get checked is when discharge is yellow, green, grayish or clumpy white with a foul odor or one that has a fishy odor (bacterial infection) or a "bread-like" odor (yeast infection) and, or, includes uncomfortable itching or burning. Other possible reasons for this type of discharge are sexually transmitted diseases.
Sounds like you two ladies are normal!
And, btw....that's why there are panty liners on the shelves.
Only note: Keep as dry as possible, break up time in tight jeans by alternating with skirts or looser pants and let that area air out at night by sleeping in loose pyjamas or nightgowns/shirts. It's important to recognize that a warm, moist environment, is a great breeding ground for yeast. So, keep the area aired out as much as possible and avoid heavily scented soaps, fabric softeners and laundry detergents etc as that can create irritation.