Sayyiduna Anas (may Allah be pleased with him) narrates that the Messenger of Allah (peace and blessings be upon him) ordered the people of Uraynah "to drink the urine and milk of camels."
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الضحايا / 19673
Sayyiduna Anas (may Allah be pleased with him) said: Some people of the tribe of Uraynah came to the Prophet (peace and blessings be upon him) and said: The climate of Madinah does not suit us (that is, it has not agreed with us); our bellies have swollen and our arms have become wounded. He (peace and blessings be upon him) ordered them: "Go to the herders of the camels and make use of the camels' milk and urine." So they went to the herders and drank the camels' milk and urine until their bodies and bellies became healthy. Then they killed the herders and drove off the camels.
When this news reached the Prophet (peace and blessings be upon him), he sent men to capture them, and they brought them back. He (peace and blessings be upon him) had their hands and feet cut off and had heated iron rods passed over their eyes. Qatadah (may Allah have mercy on him) said that Muhammad bin Sirin (may Allah have mercy on him) said: This incident took place before the prescribed punishments (hudud) were revealed.
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الضحايا / 19674
Thuwayr narrates from a shaykh of the people of Quba, who narrates from his father, who was a Companion of the Messenger (may Allah be pleased with him), that he asked the Prophet (peace and blessings be upon him) about drinking the milk of she-donkeys. He (peace and blessings be upon him) said: "There is no harm in it."
This report is not strong.
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الضحايا / 19675