You must refer back to the specific view of your Marja' taqleed. According to A.U. Seyid Sistani, if you had forgotten, and it was due to your carelessness or negligence, then according to obligatory precaution you must repeat the prayers. If it was not due to carelessness or negligence, and you had simply just forgotten to take it off, then you do not need to repeat your prayers.
And Allah knows best.