All perfect praise be to Allah, The Lord of the Worlds. I testify that there is none worthy of worship except Allah, and that Muhammad is His slave and Messenger.
The Zina for which the Hadd (corporal punishment prescribed in the Sharee’ah) would be imposed is the penetration of a glans penis into a forbidden vagina. The other acts such as kissing, hugging, and caressing are no doubt among the minor acts of Zina but there is no Hadd imposed on them. But, doing so is a grave sin and whoever indulges in that sin would be punished. Also, he should make sincere repentance from this sin by giving it up, feeling sorrow for what he has done and asking forgiveness of Allah.
For more benefit, please refer to Fatwa 86527.
Allah knows best.