Yes Vinegar does get clothes clean and Vinegar even makes a good fabric softener too.
To clean your clothes with the Vinegar fill your wash tub up if it's a top loader and add a cup of vinegar to the wash tub and let it sit for around 20 to 30 minutes so your clothes can soak in the solution to get them even cleaner.
Then turn the washing machine on and run it through a normal wash cycle.
If it's a front load washing machine then just pour some vinegar into the detergent dispenser and/or the wash tub itself and then put the clothes in and turn the washing machine on and let it run through a wash cycle.
Vinegar is a natural laundry cleaning solution.