I heard it from Maimuna, the wife of the Messenger of Allah (way peace be upon him): The Messenger of Allah ﷺ used to lie with me when I menstruated, and there was a cloth between me and him.
سَمِعْتُ مَيْمُونَةَ زَوْجَ النَّبِيِّ ﷺ قَالَتْ كَانَ رَسُولُ اللَّهِ ﷺ يَضْطَجِعُ مَعِي وَأَنَا حَائِضٌ وَبَيْنِي وَبَيْنَهُ ثَوْبٌ