Unfortunately, to the best of my knowledge at least, about the only way to accomplish that is one of the following:
1) Giving Morrowind a physics engine.
2) Animating (also known as "physiquing") the robe/skirt/coak/cape/whatever so that they stay out of the way.
3) Building custom meshes made specifically to fit together without clipping.
Obviously the first one is the most difficult (may also be impossible, I wouldn't know), the second considerably less so but still a challenge, and the third is the optimal choice, though it's scope is rather limited because any robes/skirts/cloak/capes/etc. NOT built by the same modder would still most likely clip.