Now I'm REALLY confused.
From my perspective, the OP was asking if you could use Touch ID without having to enter a passcode to unlock the phone. In otherwords, you touch the home button and your phone is unlocked... without entering a passcode afterwards.
So, I made a post questioning your claim that you do indeed need to enter a passcode after using touch ID.
Then I found a website that posted a video showing that you don't need a passcode after using touch ID.
Then I posted a picture for the OP that shows the settings screen where you can disable the passcode.
Then multiple people chimed in stating that you don't need to use a passcode after using Touch ID.
After all that, it seems like you are standing by your statement that you DO need to enter passcode. (But maybe I am misundertanding your statement)
So either you are not correct, or one of us in interupting the OP's question wrong and we are going around in circle's on something that we actually agree on.
To further clarify... I understand that there are times you still need to use a passcode (as myMacRumors mentioned), but you do NOT need to enter a passcode every time you want to unlock your phone using touch ID.