Merida in Brave
Merida's design was different than the classic doe-eyed Disney heroine. When a 2D drawing of Merida was released by Disney, people were up in arms over her "glow up." Disney claimed that this was just an example image of her formal attire to be inaugurated as the eleventh Disney princess, but who knows what their true intentions were. Princesses don't have to be covered in sparkles all of the time!
Cleopatra in Cleopatra
In the 1917 version of Cleopatra, way more than skin was shown than what audiences were comfortable with. The designers wanted as the costumes to be as accurate as possible, so they weren't really bothered.