Narrated Mu`adh bin Jabal: The Prophet (ﷺ) said, "O Mu`adh! Do you know what Allah's Right upon His slaves is?" I said, "Allah and His Apostle know best." The Prophet (ﷺ) said, "To worship Him (Allah) Alone and to join none in worship with Him (Allah). Do you know what their right upon Him is?" I replied, "Allah and His Apostle know best." The Prophet (ﷺ) said, "Not to punish them (if they do so).
Source: sunnah.com
Other translations
Arabic
حَدَّثَنَا مُحَمَّدُ بْنُ بَشَّارٍ، حَدَّثَنَا غُنْدَرٌ، حَدَّثَنَا شُعْبَةُ، عَنْ أَبِي حَصِينٍ، وَالأَشْعَثِ بْنِ سُلَيْمٍ، سَمِعَا الأَسْوَدَ بْنَ هِلاَلٍ، عَنْ مُعَاذِ بْنِ جَبَلٍ، قَالَ قَالَ النَّبِيُّ صلى الله عليه وسلم " يَا مُعَاذُ أَتَدْرِي مَا حَقُّ اللَّهِ عَلَى الْعِبَادِ ". قَالَ اللَّهُ وَرَسُولُهُ أَعْلَمُ. قَالَ " أَنْ يَعْبُدُوهُ وَلاَ يُشْرِكُوا بِهِ شَيْئًا، أَتَدْرِي مَا حَقُّهُمْ عَلَيْهِ ". قَالَ اللَّهُ وَرَسُولُهُ أَعْلَمُ. قَالَ " أَنْ لاَ يُعَذِّبَهُمْ ".
sunnah.com