Caution: Translations of Quran and Ḥadīth may lead to possible misapplications and misinterpretations. This site is intended for students of sacred knowledge that are proficient in comprehending classical Arabic and have a strong foundation in Islamic sciences. Also note that religious injunctions rely on several aspects beyond what one may glean through reading individual aḥādīth.
Qurʾān Bukhārī Muslim Nasāʾī Abū Dāwūd Tirmidhī Ibn Mājah Mālik Aḥmad Dārimī Ḥākim Ibn Ḥibbān Ṭabarānī Nasāʾī's Kubrá Bayhaqī al-Luʾluʾ wa-al-Marjān Ibn Rajab's Fifty Riyāḍ al-Ṣāliḥīn Aḥmad's Zuhd Suyūṭī
quran:23:6 –

Except from their wives or those their right hands possess, for indeed, they will not be blamed -  

except from their spouses, that is, to their spouses, and what ˹slaves˺ their right hands possess, that is, concubines, for then they are not blameworthy, in having sexual intercourse with them.
القرآن:٢٣:٦ –

إِلَّا عَلَىٰ أَزْوَاجِهِمْ أَوْ مَا مَلَكَتْ أَيْمَانُهُمْ فَإِنَّهُمْ غَيْرُ مَلُومِينَ  

{إلا على أزواجهم} أي زوجاتهم {أو ما ملكت أيمانهم} أي السراري {فإنهم غير ملومين} في إتيانه.

See similar narrations below:

Collected by Qurʾān
quran:70:30 –

Except from their wives or those their right hands possess, for indeed, they are not to be blamed -  

except from their wives and those whom their right hands own, in the way of slavegirls, for in that case they are not blameworthy;
القرآن:٧٠:٣٠ –

إِلَّا عَلَىٰ أَزْوَاجِهِمْ أَوْ مَا مَلَكَتْ أَيْمَانُهُمْ فَإِنَّهُمْ غَيْرُ مَلُومِينَ  

{إلا على أزواجهم أو ما ملكت أيمانهم} من الإماء {فإنهم غير ملومين}.