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.
Sahih Muslim Book 3, Hadith 4
← Previous Hadith The Messenger of Allah (ﷺ) contacted and embraced his wives over the waist-wrapper when they were menstruating.

Sahih Muslim Book 3, Hadith 3 Next Hadith → While I was lying with the Messenger of Allah (ﷺ) in a bed cover I menstruated, so I slipped away and I took up the clothes (which I wore) in menses. Upon this the Messenger of Allah (ﷺ) said: Have you menstruated? I said: Yes. He called me and I lay down

Sahih Muslim Book 3, Hadith 5