Sayyiduna Jabir (may Allah be pleased with him) said that the Prophet (peace and blessings be upon him) said: "There is no owner of camels, nor of sheep, nor of cattle, who does not fulfil their due, except that he will be made to sit for them on the Day of Resurrection on a level plain. Those with hooves will trample him with their hooves, and those with horns will butt him with their horns. On that day there will be no animal among them without horns, nor one with a broken horn." We said: "O Messenger of Allah (peace and blessings be upon him), what is their due?" He (peace and blessings be upon him) said: "Lending its stud (for mating), lending its bucket, lending it as a milch animal, milking it at the water, and giving a ride on it in the path of Allah. And there is no owner of wealth who does not pay its zakah except that on the Day of Resurrection it will be turned into a huge bald serpent which will follow its wealthy owner wherever he goes while he flees from it, and it will be said to him: This is your wealth over which you used to be miserly. When he sees that there is no escape from it, he will put his hand into its mouth, and it will begin to gnaw it as a stallion chews."
Abu al-Zubayr (may Allah have mercy on him) said: I heard Ubayd bin Umayr (may Allah have mercy on him) say that a man said: "What is the due of camels?" He (peace and blessings be upon him) said: "Milking them at the water, lending their bucket, lending their stud, lending them as milch animals, and giving a ride on them in the path of Allah."
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الزكاة / 7785
Ibn Jurayj (may Allah have mercy on him) said: Abu al-Zubayr informed me that he heard Jabir bin Abdullah (may Allah be pleased with him) (and he narrated the full hadith).
The narration of Abu al-Zubayr from Ubayd bin Umayr from the Prophet (peace and blessings be upon him) is munqati' (broken), and his narration from Jabir bin Abdullah is musnad (connected).
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الزكاة / 7786
Sayyiduna Abu Hurayrah (may Allah be pleased with him) said that the Messenger of Allah (peace and blessings be upon him) said, and then he narrated the hadith, and in it there is also: "There is no owner of camels who does not give their due, and part of their due is milking them on the day they come to water, except that they will be gathered for him on the Day of Resurrection, not a single young camel among them missing. Then he will be laid down for them on a level plain, and they will trample him with their hooves and bite him with their mouths. Whenever the last of them passes over him, the first of them will return to him, on a day whose length is fifty thousand years, until judgement is passed between the people, and he sees his path, either to Paradise or to the Fire." Then he mentioned the rest of the hadith.
Suhayl bin Abi Salih narrated it from his father and said in it: "There is no owner of camels who does not pay their zakah," but he did not mention the wording about milking (halb). And Abu Umar al-Ghudani narrated it from Sayyiduna Abu Hurayrah (may Allah be pleased with him) with the same meaning, "whoever does not give their due." It was said: "O Abu Hurayrah, what is the due of camels?" He said: "To give the choicest one, to lend the abundant milker, to lend its back for riding, to lend the stud, and to give milk to drink."
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الزكاة / 7787
Sayyiduna Abu Hurayrah (may Allah be pleased with him) narrates this hadith, but its wording differs, except for what I have quoted of the words of Sayyiduna Abu Hurayrah (may Allah be pleased with him).
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الزكاة / 7788