Maliks Muwatta Book 41, Hadith Number 34.
Section : Things for Which the Hand is Not Cut Off.
Yahya related to me from Malik from Ibn Shihab that Marwan ibn al-Hakam was brought a man who had snatched some goods and he wanted to cut off his hand. He sent to Zayd ibn Thabit to ask him about it. Zayd ibn Thabit said to him, “The hand is not cut off for what is stolen by chance, openly, in haste.”