Messenger of Allah ﷺ sent for a Ansari man who came with water dropping from his head. The Prophet ﷺ said, "Perhaps we have forced you to hurry up, haven't we?" The Ansari replied, "Yes." Messenger of Allah ﷺ further said, "If you are forced to hurry up (during intercourse) or you do not discharge then ablution is due on you (This order was canceled later on, i.e. one has to take a bath).  

أَنَّ رَسُولَ اللَّهِ ﷺ أَرْسَلَ إِلَى رَجُلٍ مِنَ الأَنْصَارِ فَجَاءَ وَرَأْسُهُ يَقْطُرُ فَقَالَ النَّبِيُّ ﷺ: «لَعَلَّنَا أَعْجَلْنَاكَ؟» فَقَالَ: نَعَمْ۔ فَقَالَ رَسُولُ اللَّهِ ﷺ: «إِذَا أُعْجِلْتَ أَوْ قُحِطْتَ فَعَلَيْكَ الْوُضُوءُ۔»  

I asked Messenger of Allah ﷺ about a man who engages in sexual intercourse with his wife but does not discharge. He replied, "He should wash the parts which comes in contact with the private parts of the woman, perform ablution and then pray." (Abu ʿAbdullah said, "Taking a bath is safer and is the last order.")  

أَنَّهُ قَالَ يَا رَسُولَ اللَّهِ إِذَا جَامَعَ الرَّجُلُ الْمَرْأَةَ فَلَمْ يُنْزِلْ قَالَ يَغْسِلُ مَا مَسَّ الْمَرْأَةَ مِنْهُ ثُمَّ يَتَوَضَّأُ وَيُصَلِّي قَالَ أَبُو عَبْدِ اللَّهِ الْغَسْلُ أَحْوَطُ وَذَاكَ الآخِرُ وَإِنَّمَا بَيَّنَّا لاِخْتِلاَفِهِمْ  

I asked ʿUthman bin ʿAffan about a man who engaged in the sexual intercourse with his wife but did not discharge. ʿUthman replied, "He should perform ablution like that for the prayer after washing his private parts." ʿUthman added, "I heard that from Messenger of Allah ﷺ." I asked ʿAli bin Abi Talib, Az- Zubair bin Al-ʿAwwam, Talha bin 'Ubaidullah and Ubai bin Kaʿb and they gave the same reply. (Abu Aiyub said that he had heard that from Messenger of Allah ﷺ ) (This order was canceled later on so one has to take a bath. See, Hadith No. 180).  

أَرَأَيْتَ إِذَا جَامَعَ الرَّجُلُ امْرَأَتَهُ فَلَمْ يُمْنِ قَالَ عُثْمَانُ يَتَوَضَّأُ كَمَا يَتَوَضَّأُ لِلصَّلاَةِ وَيَغْسِلُ ذَكَرَهُ قَالَ عُثْمَانُ سَمِعْتُهُ مِنْ رَسُولِ اللَّهِ ﷺ فَسَأَلْتُ عَنْ ذَلِكَ عَلِيَّ بْنَ أَبِي طَالِبٍ وَالزُّبَيْرَ بْنَ الْعَوَّامِ وَطَلْحَةَ بْنَ عُبَيْدِ اللَّهِ وَأُبَىَّ بْنَ كَعْبٍ ؓ فَأَمَرُوهُ بِذَلِكَ قَالَ يَحْيَى وَأَخْبَرَنِي أَبُو سَلَمَةَ أَنَّ عُرْوَةَ بْنَ الزُّبَيْرِ أَخْبَرَهُ أَنَّ أَبَا أَيُّوبَ أَخْبَرَهُ أَنَّهُ سَمِعَ ذَلِكَ مِنْ رَسُولِ اللَّهِ ﷺ