It's night and I haven't cleaned my clothes.
Should I say:
Oh, I have forgotten to clean my clothes and I will have to do that tomorrow!
Is it good? Or I should use the past simple ("I forgot to clean")?
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While 1. is grammatically correct, it's not idiomatic.
That's to say, English speakers don't usually talk like that.
Much more likely is:
It's night(time) (or "dark") already and I haven't (yet) cleaned my clothes.
The second example is fine.
In practice most speakers will reduce I will have to to I'll have to.
Likely alternatives to do that are do it and do so.
While both the present perfect and simple past tenses are possible, because you are talking about a recent occurrence (your forgetfulness) and its implications, the present perfect is preferable.