Permission to ride the sacrificial camel is granted when it is ridden out of necessity, and unnecessary hardship should not be imposed upon it.

Abu Zubair narrates that he heard from Sayyiduna Jabir bin Abdullah (may Allah be pleased with them) when he was asked about riding the sacrificial animal. He replied that he heard the Messenger of Allah (peace and blessings be upon him) saying: "When you do not find another ride, then in a state of necessity, ride the sacrificial camel, but do so in a good manner (do not ride it without reason and do not put undue hardship on it)."