We study the interplay between disorder and interaction in one-dimensional topological superconductors which carry localized Majorana zero-energy states. Using Abelian bosonization and the perturbative renormalization group approach, we obtain the renormalization group flow and the associated scaling dimensions of the parameters and identify the critical points of the low-energy theory. We predict a quantum phase transition from a topological superconducting phase to a nontopological localized phase, and obtain the phase boundary between these two phases as a function of the electron-electron interaction and the disorder strength in the nanowire. Based on an instanton analysis which incorporates the effect of disorder, we also identify a large regime of stability of the Majorana-carrying topological phase in the parameter space of the model.