Hazrat Aisha, Allah be pleased with her, narrates that the Holy Prophet, peace and blessings of Allah be upon him, never struck anyone with his hands, neither a servant nor a maid, but, of course, he fought in the cause of Allah. He never exacted retribution for any injury brought to him, but, of course, imposed penalties for violation of Divine injunctions.
(Sahih Muslim, Kitab al-Fadhail)