Short answer
Yes. There is no awrah between husband and wife, so they may see and touch each other's whole body. Some Hanafi books say it is better manners not to look at the private parts, but that is not a sin. The report that the Prophet ﷺ and Aisha never saw each other's private parts is weak. The four schools agree it is permitted.
A husband and wife may look at and touch every part of each other's body. Looking at the genitals is permitted; al-Hidaya says it is better adab to avoid it, which makes it at most makruh tanzihi, not a sin.
The four schools agree on this.
Explanation
A Companion asked which parts of the body must be covered and from whom. The Prophet ﷺ said: guard your awrah except from your wife. The Quran praises those who guard their private parts "except from their wives" (23:5 to 6) and calls spouses clothing for one another (2:187). So nakedness between spouses is lawful.
Aisha said she and the Prophet ﷺ used to bathe together from one vessel. A different report, that neither ever saw the other's private parts, comes through weak chains and cannot be used to forbid anything. The Hanafi jurists still mention modesty as good manners: al-Hidaya says it is better not to look at the private part. That is advice, not a rule.
Related points:
- Privacy from others. No one else may see you, including children. The Quran teaches children to ask permission at times of privacy (24:58). Lock the door.
- No photos or videos. Intimate images can be seen by others and are not allowed. See what is forbidden in intimacy.
- Covering during intimacy. Some scholars recommend a sheet, based on narrations that are weak. It is good manners, not a condition.
- Sleeping without clothes together is fine. See sleeping naked.
See also showering together.
The evidence
Quran, Surah Al-Muminoon 23:6
إِلَّا عَلَىٰٓ أَزْوَٰجِهِمْ أَوْ مَا مَلَكَتْ أَيْمَٰنُهُمْ فَإِنَّهُمْ غَيْرُ مَلُومِينَ ﴿٦﴾
Except from their wives or those their right hands possess, for indeed, they will not be blamed -
There is no covering required between spouses.
Quran, Surah Al-Baqara 2:187
أُحِلَّ لَكُمْ لَيْلَةَ ٱلصِّيَامِ ٱلرَّفَثُ إِلَىٰ نِسَآئِكُمْ ۚ هُنَّ لِبَاسٌۭ لَّكُمْ وَأَنتُمْ لِبَاسٌۭ لَّهُنَّ ۗ عَلِمَ ٱللَّهُ أَنَّكُمْ كُنتُمْ تَخْتَانُونَ أَنفُسَكُمْ فَتَابَ عَلَيْكُمْ وَعَفَا عَنكُمْ ۖ فَٱلْـَٰٔنَ بَٰشِرُوهُنَّ وَٱبْتَغُوا۟ مَا كَتَبَ ٱللَّهُ لَكُمْ ۚ وَكُلُوا۟ وَٱشْرَبُوا۟ حَتَّىٰ يَتَبَيَّنَ لَكُمُ ٱلْخَيْطُ ٱلْأَبْيَضُ مِنَ ٱلْخَيْطِ ٱلْأَسْوَدِ مِنَ ٱلْفَجْرِ ۖ ثُمَّ أَتِمُّوا۟ ٱلصِّيَامَ إِلَى ٱلَّيْلِ ۚ وَلَا تُبَٰشِرُوهُنَّ وَأَنتُمْ عَٰكِفُونَ فِى ٱلْمَسَٰجِدِ ۗ تِلْكَ حُدُودُ ٱللَّهِ فَلَا تَقْرَبُوهَا ۗ كَذَٰلِكَ يُبَيِّنُ ٱللَّهُ ءَايَٰتِهِۦ لِلنَّاسِ لَعَلَّهُمْ يَتَّقُونَ ﴿١٨٧﴾
It has been made permissible for you the night preceding fasting to go to your wives [for sexual relations]. They are clothing for you and you are clothing for them. Allah knows that you used to deceive yourselves, so He accepted your repentance and forgave you. So now, have relations with them and seek that which Allah has decreed for you. And eat and drink until the white thread of dawn becomes distinct to you from the black thread [of night]. Then complete the fast until the sunset. And do not have relations with them as long as you are staying for worship in the mosques. These are the limits [set by] Allah, so do not approach them. Thus does Allah make clear His ordinances to the people that they may become righteous.
Spouses are close to each other like clothing.
Sunan Abi Dawud 4017
Graded hasan... احفظ عورتك إلا من زوجتك أو ما ملكت يمينك ...
"Guard your private parts except from your wife or those your right hand possesses."
There is no awrah between husband and wife.
Where the ruling is recorded
- al-Hidaya, Kitab al-Karahiyya, Fasl fi al-Wat' wa al-Nazar wa al-Lams. A man may look at all of his wife's body, and it is better adab not to look at her private part.
- Radd al-Muhtar (Ibn Abidin), Kitab al-Hazr wa al-Ibaha, Fasl fi al-Nazar wa al-Mass. Looking between spouses is permitted.
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.