It is narrated from Hazrat Abu Hurairah (may Allah be pleased with him) that the Noble Prophet (peace and blessings be upon him) said: If an animal is kept with someone as collateral, then its fodder will be obligatory upon the one holding it in pledge, and the milk of a milking animal can be drunk, but whoever drinks its milk, its expense will also be upon him, and it can also be ridden.
Hadith Referenceمسند احمد / مسند المكثرين من الصحابة / 10110