It was narrated that Salim bin ‘Abdullah said: ʼUmar was a man of protective jealousy, and when he went out to pray, `Atikah bint Zaid would follow him, although he did not like her going out, but he did not like to stop her. He used to narrate that the Messenger of Allah (ﷺ) said: `if your womenfolk ask you for permission to pray in the mosque, do not prevent them.`
Source: sunnah.com
Other translations
Arabic
حَدَّثَنَا إِسْمَاعِيلُ بْنُ إِبْرَاهِيمَ، عَنْ يَحْيَى بْنِ أَبِي إِسْحَاقَ، عَنْ سَالِمِ بْنِ عَبْدِ اللَّهِ، قَالَ كَانَ عُمَرُ رَجُلًا غَيُورًا فَكَانَ إِذَا خَرَجَ إِلَى الصَّلَاةِ اتَّبَعَتْهُ عَاتِكَةُ ابْنَةُ زَيْدٍ فَكَانَ يَكْرَهُ خُرُوجَهَا وَيَكْرَهُ مَنْعَهَا وَكَانَ يُحَدِّثُ أَنَّ رَسُولَ اللَّهِ صَلَّى اللَّهُ عَلَيْهِ وَسَلَّمَ قَالَ إِذَا اسْتَأْذَنَتْكُمْ نِسَاؤُكُمْ إِلَى الصَّلَاةِ فَلَا تَمْنَعُوهُنَّ.
sunnah.com