'Asim bin 'Umar narrated On the authority of Anas and Uthman bin Abu Sulaiman (RAA),'The Messenger of Allah (ﷺ) sent Khalid bin al-Walid to Ukaidir of Dawmat al-Jandal and they seized him and brought him to the Prophet (ﷺ). The Messenger of Allah (ﷺ) spared his life and made peace with him on the condition that he should pay Jizyah.' Related by Abu Dawud.
English reference: Book 11, Hadith 1347
Arabic reference: Book 11, Hadith 1321