It is narrated from Sayyidah Umm Salamah (may Allah be pleased with her) that the Messenger of Allah (peace and blessings be upon him) would be intimate with her (short of intercourse) even while she was menstruating, while she had a waist-wrapper (izar) tied on.
Hadith Referenceالمعجم الكبير للطبراني / مسند النساء / 19983