All perfect praise be to Allaah, The Lord of the Worlds. I testify that there is none worthy of worship except Allaah, and that Muhammad, sallallaahu ‘alayhi wa sallam, is His Slave and Messenger.
In principle, it is permissible to look at the ‘Awrah of animals unless this would result in sexual arousal, hence, it would be impermissible. Moreover, the author of Al-Insaaf cited on the authority of Ibn ‘Aqeel that he said:
It is impermissible to cast a lustful look that implies lesbianism or sodomy. Moreover, leering at an animal lustfully is not permissible, and the same applies to being in seclusion with that animal.
This was mentioned in his book Al-Furoo‘ and it is the apparent meaning of other scholars’ opinions.
Moreover, the author of Al-Insaaf then mentioned some of the benefits and lessons such as the fact that lust here means casting a lustful look and [sexually] enjoying it. Furthermore, he mentioned that touching is just like looking in this case, yet it is more forbidden.
What was mentioned regarding animals applies, a fortiori, in the case of devils and the Jinn, for those who can see them. However, if casting a lust-free look at the ‘Awrah of the Jinn or devils is prohibited, it will not be strange; since the Jinn are subject to the order of lowering their gaze and maintaining their chastity that was mentioned in the verse which reads (what means): {Tell the believing men to reduce [some] of their vision and guard their private parts. That is purer for them. Indeed, Allaah Is Acquainted with what they do.}[Quran 24:30]