I wouldn't talk to the nanny about this issue because it sounds like she is not playing with a full deck and it could tip her off and she may go to the parents ahead of you and make something up before you get to them.
Do not let her know you are on to her and simply remain professional around her.
Then when you get a chance to, discuss this matter with your bosses and ask them how you can deal with it. Tell them you do not understand why this nanny does not like you and that you feel the household staff needs to work together in a cordial manner in order for the household to function efficiently. Stress to them that by having to take extra time to clean up her extra messes, this is taking time from your job that you need to perform your work optimally.
Do not badmouth the nanny or throw her under the bus. Remain professional and diplomatic.
Hopefully your bosses can knock some sense into her.
Good luck.