The Prophet (ﷺ) sent Khalid ibn al-Walid to Ukaydir of Dumah. He was seized and they brought him to him (i.e. the Prophet). He spared his life and made peace with him on condition that he should pay jizyah (poll-tax).
Sunan Abi Dawud Book 20, Hadith 110
← Previous Hadith Abu Hurairah reported the Apostle of Allaah(ﷺ) as saying “Whatever town you come to and stay in , your portion is in it, but whatever town disobeys Allaah and His Apostle a fifth of it goes to Allaah and His Apostle and what remains is yours.”

Sunan Abi Dawud Book 20, Hadith 109 Next Hadith → When the Prophet (ﷺ) sent him to the Yemen, he ordered to take from everyone who had reached puberty one dinar or its equivalent in Mu'afiri garment of Yemen origin.

Sunan Abi Dawud Book 20, Hadith 111