Me and my boyfrind did not have full out sex his penis was just touching my vag then later we used a condom but now I have blue/ green stuff in my under wear... what is it?

You should definitely go see your doctor. No one can diagnose you over the internet. But blue green discharge is definitely something you should get checked out.

Well could it just be irritation from the condom and lube?

Again, NO ONE CAN DIAGNOSE YOU OVER THE INTERNET. Maybe it is just from the condom or lube. Were either of them green or blue? The only way to know for sure whether it's anything or not is to get checked out by a doctor. Otherwise it's just anyone's guess.

Those are not natural colors for anything normal, Yes it is serious enough to see your doctor