It is narrated from Sayyiduna Abu Hurayrah (may Allah be pleased with him) that the Prophet (peace and blessings be upon him) said: "I have been commanded to fight people until they affirm the testimony (kalimah), establish prayer and pay zakah. When they do this, they have protected their lives and their wealth from me, and their reckoning is with Allah Almighty."
Hadith Referenceالسنن الكبرى للبيهقي / كتاب قتال أهل البغي / 16733