Yes, an authentic Hadith in Sahih al-Bukhari (5686) and Sahih Muslim narrates that Prophet Muhammad commanded a group of people from the Ukl or Uraynah tribes to drink camel milk and urine as medicine. They were suffering from illness due to Medina's climate, and this treatment restored their health.
Key Contextual Details of the Hadith:
Medical Treatment: The command was given as a remedy for a specific, severe illness, not as a general, everyday dietary requirement.
Specific Case: Many scholars emphasize that this was a specific recommendation for a specific group of people with a particular disease, not a universal Sunnah (practice) for all Muslims in all situations.
Emergency Measure: Islamic jurists often interpret this under the rule of necessity, allowing the use of forbidden (haram) or impure (najis) substances for medical treatment if no other cure is available.
The Incident: The individuals, after being cured, committed heinous crimes, including killing the shepherd and stealing the camels, resulting in punishment by the Prophet.
While some studies discuss the traditional medicinal use of camel urine, the incident remains a topic of specialized theological interpretation and contextual understanding rather than a general command for consumption.