Steps to reproduce:
1. Download and open attached project.
2. Open scene named "Bug".
3. Create an empty prefab inside of "Assets" folder.
4. Navigate to the "hierarchy" window, drag and drop game object named "Dress" to a recently created prefab.
5. Select that prefab.
6. Notice the output of "Console" window:
"Mesh.colors is out of bounds. The supplied array needs to be the same size as the Mesh.vertices array.
UnityEditor.ClothInspector:OnEnable()
IndexOutOfRangeException: Array index is out of range.
UnityEditor.ClothInspector.SetupSelectedMeshColors () (at C:/buildslave/unity/build/Editor/Mono/Inspector/ClothInspector.cs:349)
UnityEditor.ClothInspector.OnEnable () (at C:/buildslave/unity/build/Editor/Mono/Inspector/ClothInspector.cs:261)"
7. Select another asset from "Assets" folder.
8. Select prefab asset again and notice that exception is thrown again.

Expected result:
Selecting prefab that has a cloth component should not throw any exception.

Reproduced with:
5.1.0f3, 5.2.4f1, 5.3.4f1, 5.3.4p6, 5.4.0b18.

Project attached below.