Abu Idrees al-Khulani أبو إدريس الخولاني · The Book on Legal Punishments (Al-Hudud)

That the Messenger of Allah (ﷺ) said: "The pen has been lifted from three; for the sleeping person until he awakens, for the boy until he becomes a young man and for the mentally insane until he regains sanity."

"Whoever has relations with beast, then there is no legal punishment for him."