بِسۡمِ ٱللهِ ٱلرَّحۡمَـٰنِ ٱلرَّحِيمِ
يَـٰٓأَيُّهَا ٱلَّذِينَ ءَامَنُواْ لِيَسۡتَـٔۡذِنكُمُ ٱلَّذِينَ مَلَكَتۡ أَيۡمَـٰنُكُمۡ وَٱلَّذِينَ لَمۡ يَبۡلُغُواْ ٱلۡحُلُمَ مِنكُمۡ ثَلَـٰثَ مَرَّٲتٍ۬ۚ مِّن قَبۡلِ صَلَوٰةِ ٱلۡفَجۡرِ وَحِينَ تَضَعُونَ ثِيَابَكُم مِّنَ ٱلظَّهِيرَةِ وَمِنۢ بَعۡدِ صَلَوٰةِ ٱلۡعِشَآءِۚ ثَلَـٰثُ عَوۡرَٲتٍ۬ لَّكُمۡۚ لَيۡسَ عَلَيۡكُمۡ وَلَا عَلَيۡهِمۡ جُنَاحُۢ بَعۡدَهُنَّۚ طَوَّٲفُونَ عَلَيۡكُم بَعۡضُڪُمۡ عَلَىٰ بَعۡضٍ۬ۚ كَذَٲلِكَ يُبَيِّنُ ٱللَّهُ لَكُمُ ٱلۡأَيَـٰتِۗ وَٱللَّهُ عَلِيمٌ حَكِيمٌ۬ (٥٨) وَإِذَا بَلَغَ ٱلۡأَطۡفَـٰلُ مِنكُمُ ٱلۡحُلُمَ فَلۡيَسۡتَـٔۡذِنُواْ ڪَمَا ٱسۡتَـٔۡذَنَ ٱلَّذِينَ مِن قَبۡلِهِمۡۚ كَذَٲلِكَ يُبَيِّنُ ٱللَّهُ لَڪُمۡ ءَايَـٰتِهِۦۗ وَٱللَّهُ عَلِيمٌ حَڪِيمٌ۬ (٥٩)
O ye who believe! Let your slaves, and those of you who have not come to puberty, ask leave of you at three times (before they come into your presence): Before the prayer of dawn, and when ye lay aside your raiment for the heat of noon, and after the prayer of night. Three times of privacy for you. It is no sin for them or for you at other times, when some of you go round attendant upon others (if they come into your presence without leave). Thus Allah maketh clear the revelations for you. Allah is Knower, Wise. (58) And when the children among you come to puberty then let them ask leave even as those before them used to ask it. Thus Allah maketh clear His revelations for you. Allah is Knower, Wise. (59)
TAFSEER BY DR. FARHAT HASHMI (translated)
Besides the adults (dealt with elsewhere) two other kinds of people may reside or spend time in your home. These may be servants or helpers and children who have not reached puberty.
These ayahs outline the etiquette that this group must follow. Depending on the culture and nation and the members of the family, there may be house servants and or children who have not yet reached puberty, who may be in the home.
Even these folks who live in the house are given three times when they should seek permission to enter a room where the adults of the family reside.
These three private times are before dawn (or fajr), during the rest time in the afternoon where one may remove some clothes in the heat, and at night after Isha.
Specifically these ayahs address those people who normally live in the house. Even they are held accountable to the etiquette outlined of announcing themselves and seeking permission to enter before entering upon a person’s room or place of dwelling.