Ibn Shihab (may Allah have mercy on him) was asked about a man who strikes another with a sword in anger: what should be done with him? He said: Safwan bin al-Mu'attal (may Allah be pleased with him) struck Hassan bin Thabit (may Allah be pleased with him), and the Messenger of Allah (peace and blessings be upon him) did not cut off his hand.
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الجنايات / 16058