I normally bring to Goodwill. If you have any Veterans groups in your area, they often will pick up. Best to call or go to website to see what they will and will NOT accept.
Stained, worn or unclean clothing is a no. As with old furniture. Some will not take furniture at all. I donated a lot of Ricks clothes that were in good shape a few weeks ago, as I had a lot of heavy, winter clothing. Perfect for this time of year.
If you have any homeless shelters, look there. If you have a battered woman's shelter, they will take women's clothes, and especially children's clothes and toys, as the ladies often leave with nothing but the clothes on their backs.