The Messenger of Allah ﷺ would have intimate contact with one of his wives while she was menstruating if she was wearing a wrap reaching to the middle of her thighs and knees. In the narration of Layth, the wording is "fastened tightly around her."
أخبرنا الحارث بن مسكين قراءة عليه وأنا أسمع عن ابن وهب عن يونس والليث عن ابن شهاب عن حبيب مولى عروة عن بدية وكان الليث يقول ندبة مولاة ميمونة
كان رسول الله ﷺ يباشر المرأة من نسائه وهي حائض إذا كان عليها إزار يبلغ أنصاف الفخذين والركبتين في حديث الليث محتجزة به
[Its chain is hasan] Abu Dawud narrated it in the Book of Purification, chapter on a man who touches a woman in ways short of intercourse, hadith no. 267, from the hadith of Layth, with this wording, and it is also in Kubra, hadith no. 280. Ibn Hibban graded it sahih. Zuhri explicitly stated that he heard it directly, as recorded by Bayhaqi 1/313. The hadith has many corroborating narrations.