Is it permissible to pay Zakat on free-grazing camels after a year has passed and they have reached the minimum taxable amount?

If pasturing camels reach the minimum taxable amount (nisab (definition)) and a full year (hawl) passes, then paying zakat (definition) on them is a religious obligation, according to the Qur’an and Sunnah (definition). Zakat becomes obligatory on them if they pasture for most of the year, such as pasturing for seven months and being fed for five months. However, if they pasture for half the year or less, then no zakat is due on them. The nisab for camels is five.