Among the things harmful to cats, the American Humane Association states the following:
Cats tend to be attracted to unusual flavors, so keep them away from
calamine lotion, diaper rash ointments, sunblock and analgesic
ointments. These products contain an acid related to those in aspirin
and will prove toxic if ingested.
The ASPCA Animal Poison Control Center also says that:
We would not expect to see problems as a result of your cats coming
into contact with your hands after you've applied non-medicated
lotion. Should they happen to ingest a small amount of this lotion, it
could potentially have a bit of a laxative effect, and may cause
stomach upset. However, we would not anticipate systemic or
So in general, if it is a non-medicated lotion, you should be safe. It's not something the cat should likely get a lot of, but if they are just licking your skin after you have applied it and it has soaked into your skin, the cat should be okay.
However, if the cat suddenly appears to be ill after licking the lotion, taking proper steps to ensure its safety and health are always top priority, of course!