Short answer
Yes. The Quran tells children who have not reached puberty to ask permission at three times of privacy: before fajr, at the midday rest and after isha. Once they reach puberty, they must ask permission at all times, like adults. Most scholars, the Hanafis among them, hold that this ayah is still in force.
Children who understand, though not yet baligh, are to be taught to seek permission before entering at the three times named in the Quran, and the guardian is responsible for teaching it. After puberty, seeking permission before entering any private room is wajib, even into the room of one's mother.
The four schools agree on this.
Explanation
Allah says: let those who have not reached puberty among you ask your permission at three times: before the dawn prayer, when you put aside your clothes at noon, and after the night prayer. These are three times of privacy for you. Then: when your children reach puberty, let them ask permission as those before them did. The Prophet ﷺ said that asking permission was made a rule because of what the eyes may see.
In practice:
- Young children who understand: teach them to knock and wait at night, early morning and during an afternoon nap. At other times they can come and go freely, since family members are always moving around each other, as the ayah says.
- From puberty: knock and wait for permission every time, including at a parent's or sibling's door.
- Parents too should knock before entering a teenager's room. Respect for privacy teaches it.
- Fit a lock or a simple sign for times of rest if small children keep walking in.
Ibn Abbas remarked that most people did not act on this ayah, yet he still told his own servant girl to ask permission before coming in. Most scholars hold that the reason behind it, protecting privacy, still exists, so the ruling remains. Teaching this early protects modesty and gives children a natural sense of boundaries.
See separate beds, the awrah of a child and haya in Islam.
The evidence
Quran, Surah An-Noor 24:58
يَٰٓأَيُّهَا ٱلَّذِينَ ءَامَنُوا۟ لِيَسْتَـْٔذِنكُمُ ٱلَّذِينَ مَلَكَتْ أَيْمَٰنُكُمْ وَٱلَّذِينَ لَمْ يَبْلُغُوا۟ ٱلْحُلُمَ مِنكُمْ ثَلَٰثَ مَرَّٰتٍۢ ۚ مِّن قَبْلِ صَلَوٰةِ ٱلْفَجْرِ وَحِينَ تَضَعُونَ ثِيَابَكُم مِّنَ ٱلظَّهِيرَةِ وَمِنۢ بَعْدِ صَلَوٰةِ ٱلْعِشَآءِ ۚ ثَلَٰثُ عَوْرَٰتٍۢ لَّكُمْ ۚ لَيْسَ عَلَيْكُمْ وَلَا عَلَيْهِمْ جُنَاحٌۢ بَعْدَهُنَّ ۚ طَوَّٰفُونَ عَلَيْكُم بَعْضُكُمْ عَلَىٰ بَعْضٍۢ ۚ كَذَٰلِكَ يُبَيِّنُ ٱللَّهُ لَكُمُ ٱلْءَايَٰتِ ۗ وَٱللَّهُ عَلِيمٌ حَكِيمٌۭ ﴿٥٨﴾
O you who have believed, let those whom your right hands possess and those who have not [yet] reached puberty among you ask permission of you [before entering] at three times: before the dawn prayer and when you put aside your clothing [for rest] at noon and after the night prayer. [These are] three times of privacy for you. There is no blame upon you nor upon them beyond these [periods], for they continually circulate among you - some of you, among others. Thus does Allah make clear to you the verses; and Allah is Knowing and Wise.
Young children ask permission at the three times of privacy.
Quran, Surah An-Noor 24:59
وَإِذَا بَلَغَ ٱلْأَطْفَٰلُ مِنكُمُ ٱلْحُلُمَ فَلْيَسْتَـْٔذِنُوا۟ كَمَا ٱسْتَـْٔذَنَ ٱلَّذِينَ مِن قَبْلِهِمْ ۚ كَذَٰلِكَ يُبَيِّنُ ٱللَّهُ لَكُمْ ءَايَٰتِهِۦ ۗ وَٱللَّهُ عَلِيمٌ حَكِيمٌۭ ﴿٥٩﴾
And when the children among you reach puberty, let them ask permission [at all times] as those before them have done. Thus does Allah make clear to you His verses; and Allah is Knowing and Wise.
After puberty, permission is needed at all times.
Sahih al-Bukhari 6241
Sahih... إنما جعل الاستئذان من أجل البصر ...
"Asking permission was only made a rule because of the sight."
The purpose of seeking permission is privacy.
Where the ruling is recorded
- Ahkam al-Quran (al-Jassas), Commentary on Surat al-Nur, ayahs 58 and 59. A Hanafi discussion of the ayah of permission and whether it remains in force.
- al-Fatawa al-Hindiyya, Kitab al-Karahiyya, chapter on seeking permission. Seeking permission before entering, including on one's mother.
Checked by our team. For a more accurate answer to your own situation, consult a scholar. Quran translation by Sahih International. Hadith Arabic from the standard editions of the six books and the Muwatta, with gradings as recorded there; the English is our own rendering. Spotted a mistake? Tell us.