لَا تَحْسَبَنَّ الَّذِينَ كَفَرُوا مُعْجِزِينَ فِي الْأَرْضِ وَمَأْوَاهُمُ النَّارُ وَلَبِئْسَ الْمَصِيرُ ﴿۵۷﴾ يَا أَيُّهَا الَّذِينَ آمَنُوا لِيَسْتَأْذِنْكُمُ الَّذِينَ مَلَكَتْ أَيْمَانُكُمْ وَالَّذِينَ لَمْ يَبْلُغُوا الْحُلُمَ مِنْكُمْ ثَلَاثَ مَرَّاتٍ مِنْ قَبْلِ صَلَاةِ الْفَجْرِ وَحِينَ تَضَعُونَ ثِيَابَكُمْ مِنَ الظَّهِيرَةِ وَمِنْ بَعْدِ صَلَاةِ الْعِشَاءِ ثَلَاثُ عَوْرَاتٍ لَكُمْ لَيْسَ عَلَيْكُمْ وَلَا عَلَيْهِمْ جُنَاحٌ بَعْدَهُنَّ طَوَّافُونَ عَلَيْكُمْ بَعْضُكُمْ عَلَى بَعْضٍ كَذَلِكَ يُبَيِّنُ اللَّهُ لَكُمُ الْآيَاتِ وَاللَّهُ عَلِيمٌ حَكِيمٌ ﴿۵۸﴾

﴾57﴿ Laa tahsabannal lazeena kafaroo mu'jizeena fil ard; wa maawaahumun Naaru wa labi'sal maseer
﴾58﴿ Yaaa aiyuhal lazeena aamanoo li yasta'zinkumul lazeena malakat aimaanukum wallazeena lam yablughul huluma minkum salaasa marraat; min qabli Salaatil Fajri wa heena tada'oona siyaa bakum minaz zaheerati wa min ba'di Salaatil Ishaaa'; salaasu 'awraatil lakum; laisa 'alaikum wa laa 'alaihim junaahun ba'dahunn; tawwaafoona 'alaikum ba'dukum 'alaa ba'd; kazaalika yubaiyinul laahu lakumul aayaat; wallahu 'Aleemun Hakeem

﴾57﴿ Do not think that those who disbelieve can escape from Allah's punishment on the earth. Their abode is the Fire, and what an evil destination it is
﴾58﴿ O believers, let those whom your right hands possess and those among you who have not yet reached puberty seek permission from you at three times: before the dawn prayer, when you remove your garments at noon, and after the night prayer. These are three times of privacy for you. Beyond these times, there is no blame upon you or them, for they frequently move around you, serving one another. Thus, Allah makes His rulings clear to you, and Allah is All-Knowing, All-Wise

[57] In this verse, there is a warning (takhwīf) to those who oppose the believers, and a message of comfort (tasliyah) to the Messenger and the people of faith—that the disbelievers will never be able to take away khilāfah (leadership) from you. This is because they cannot stand against you while Allah the Exalted is with you.
[58] Since the purpose of khilāfah is to establish safety by removing hardship from the believers, and the foundation of this safety is modesty and love, three laws are mentioned to achieve this. In this verse, the first law is stated.
Here, the rule of seeking permission (isti’dhān) is mentioned regarding children and servants, whereas in verse 27, it was about outsiders.
The point is that there are three times during the day and night when people are usually uncovered or not attentive to modesty due to general human habits:
1. Before the Fajr prayer
2. At midday rest (chāshṭ)
3. After the ʿIshā’ prayer
During these times, servants, workers, and underage children (those nearing puberty, who understand private parts) must seek permission before entering.
Abū Dāwūd narrated from Ibn ʿAbbās (may Allah be pleased with them) that most people do not act upon this verse—and it is not abrogated. Ibn Kathīr said: “Even I instruct my own maidservant to follow this rule.”
(ثَلَاثَ مَرَّاتٍ) – refers to these three times during day and night.
(وَحِينَ تَضَعُونَ ثِيَابَكُم) – means either all clothing, as some people remove all garments while resting, or outer clothing, in a way that much of the private area becomes exposed, yet they don’t pay attention to it.
At midday, there is usually no sexual activity, so only the act of removing clothes is mentioned as the reason. For before Fajr and after ʿIshā’, both reasons are valid, so further explanation wasn’t necessary.
(طَوَّافُونَ عَلَيْكُمْ) – is the reason behind the ruling mentioned: children frequently go in and out to serve their parents, so if they were required to ask permission every time, it would cause great inconvenience.