Is it kind of a mushroomy gray? I'm working with those colors in my bath and think that blues and greens with a lot of gray in them look good together. For example SW Shiitake looks good with SW Big Dipper and SW Tarragon. Your navy should work, the darker and moodier the better. A really greyed out aqua would work too. Other than white, muddier colors should work better than clearer colors.

Yes, it is a sort of mushroom grey. Maybe with my idea of navy and white I was on the wrong track? Thank you!! This is kind of a greyish slate blue color - not sure I like it but it is more on the grey lines

I'd go with a red/orange or a green, not navy.

Here's a very elegant greige with orange accents.

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This bathroom is verging on lux aka classy, and I think a more sophisticated and muted color palette would keep it in the lux realm. The navy towels are not doing that.

I'd use this pretty little tableau as inspiration and introduce a dusty terra cotta look to the room. Maybe with a touch of mustard or gold.

Heathered terra cotta towels from Rejuvenation (LINK) The two tone weave makes it more complex than just a solid color.

Terra cotta and mustard soap dish and cup from Zara (LINK)

I love the look of these bathroom accessories. The color is awesome, but it is stitched leather - how impractical is that for a wet space?!

Does the cabinet over the toilet have to stay? I get how practical it is, but man, it brings the look down into a kind of country cabin vibe.

white and soft taupe/mushroom towels to compliment the tiles.

Polished chrome for all fixtures Shimmer and shine for a luxury look.

No black or navy. and limit the tchotchkes.

https://www.wayfair.com/bed-bath/pdp/modern-threads-6-piece-set-2-bath-towels-2-hand-towels-2-washcloths-yarn-dyed-jacquardsolid-towel-set-monroe-w005089395.html?piid=500664782

https://www.wayfair.com/decor-pillows/pdp/highland-dunes-ocean-light-i-wrapped-canvas-print-w100101705.html?piid=1115114822

a simple serene canvas art.

I thin beige toned towels always look dirty I would do the navy and white add a nice white shower cutain with a navy stipr in a trim and as for accessories do not not get too much all matchy so maybe nice chrome or stainless would be better A nice navy bath mat hung over the tub when not needed and some fun piece of art . I like the hotel type towel holders and I do put them over the toilet with no issue .I do not hang a towel from there but a nice hook for the towel in use and I just fold a hand towel on the vanity

^ agree with @Maureen — I think white towels always look fresh

You have a lot of storage space so replace the over-the-toilet cabinets with some artwork with a variety of color if you find a piece you like. Then pick up on the prominent colors with towels, even assorted colors. White shower curtain is best.

Honestly, using white towels might work the best and then look at adding fresh flowers and colorful artwork to add some pops of color and interest. You also might look at switching out the mirror with something more interesting. Please see the mirror designs included below:

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My preference is white...