Ibn Shihab (may Allah have mercy on him) said: There is no retaliation between a free man and a slave in anything, except that if a slave deliberately kills a free man, the slave will be killed. Imam Malik (may Allah have mercy on him) also told me the same, and Ibn Jurayj (may Allah have mercy on him) narrated the same to us from Ata (may Allah have mercy on him).
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الجنايات / 15944