I have a pair of Shebeest knickers that I love. They hit me about mid-calf (they probably should hit below the knee but I have short legs). They don't irritate at all. I love them!
In fact, I probably need to order more since I'm having lots of issues with my legs burning on my lower thighs/knees this summer (sunscreen is doing nothing).

I can wear the knickers until it starts to get really cold, then I just put tights on over them for winter.