The Prophet ﷺ used to pray the Zuhr at midday, and the ʿAsr at a time when the sun was still bright, the Maghrib after sunset (at its stated time) and the ʿIsha at a variable time. Whenever he saw the people assembled (for ʿIsha' prayer) he would pray earlier and if the people delayed, he would delay the prayer. And they or the Prophet ﷺ used to offer the Fajr Prayers when it still dark.  

كَانَ النَّبِيُّ ﷺ يُصَلِّي الظُّهْرَ بِالْهَاجِرَةِ وَالْعَصْرَ وَالشَّمْسُ نَقِيَّةٌ وَالْمَغْرِبَ إِذَا وَجَبَتْ وَالْعِشَاءَ أَحْيَانًا۔ وَأَحْيَانًا إِذَا رَآهُمُ اجْتَمَعُوا عَجَّلَ وَإِذَا رَآهُمْ أَبْطَوْا أَخَّرَ وَالصُّبْحَ كَانُوا أَوْ كَانَ النَّبِيُّ ﷺ يُصَلِّيهَا بِغَلَسٍ  

We asked Jabir bin ʿAbdullah about the prayers of the Prophet ﷺ . He said, "He used to pray Zuhr prayer at midday, the ʿAsr when the sun was still hot, and the Maghrib after sunset (at its stated time). The ʿIsha was offered early if the people gathered, and used to be delayed if their number was less; and the morning prayer was offered when it was still dark. "  

عَنْ صَلاَةِ النَّبِيِّ ﷺ فَقَالَ كَانَ يُصَلِّي الظُّهْرَ بِالْهَاجِرَةِ وَالْعَصْرَ وَالشَّمْسُ حَيَّةٌ وَالْمَغْرِبَ إِذَا وَجَبَتْ وَالْعِشَاءَ إِذَا كَثُرَ النَّاسُ عَجَّلَ وَإِذَا قَلُّوا أَخَّرَ وَالصُّبْحَ بِغَلَسٍ  

"Al-Hajjaj arrived, and we asked Jabir bin 'Abdullah, who said: 'The Messenger of Allah ﷺ prayed Zuhr at the time of intense heat, [1] and 'Asr when the sun was white and clear, and Maghrib when the sun set, and with 'Isha' it would depend - if he saw that the people had gathered, he would pray early, and if he saw that they had not come yet, he would delay it.'" [1] Meaning, at the earliest time.  

كَانَ رَسُولُ اللَّهِ ﷺ يُصَلِّي الظُّهْرَ بِالْهَاجِرَةِ وَالْعَصْرَ وَالشَّمْسُ بَيْضَاءُ نَقِيَّةٌ وَالْمَغْرِبَ إِذَا وَجَبَتِ الشَّمْسُ وَالْعِشَاءَ أَحْيَانًا كَانَ إِذَا رَآهُمْ قَدِ اجْتَمَعُوا عَجَّلَ وَإِذَا رَآهُمْ قَدْ أَبْطَئُوا أَخَّرَ  

"The Messenger of Allah ﷺ used to pray Zuhr when the sun passed its zenith, and he would pray 'Asr between these two prayers; and he would pray Maghrib when the sun had set, and he used to pray 'Isha' when the twilight had disappeared," then he said straight after that: "And he would pray Fajr when a man could see clearly." (Using translation from Nasāʾī 552)   

عَنْ صَلَاةِ رَسُولِ اللهِ ﷺ فَقَالَ كَانَ يُصَلِّي الظُّهْرَ إِذَا زَالَتِ الشَّمْسُ وَالْعَصْرَ بَيْنَ صَلَاتَيْكُمْ هَاتَيْنِ وَالْمَغْرِبَ إِذَا غَرَبَتِ الشَّمْسُ وَالْعِشَاءَ إِذَا غَابَ الشَّفَقُ وَالصُّبْحَ إِذَا طَلَعَ الْفَجْرُ إِلَى أَنْ يَنْفَسِحَ الْبَصَرُ  

"Al-Hajjaj arrived, and we asked Jabir bin 'Abdullah, who said: 'The Messenger of Allah ﷺ prayed Zuhr at the time of intense heat, [1] and 'Asr when the sun was white and clear, and Maghrib when the sun set, and with 'Isha' it would depend - if he saw that the people had gathered, he would pray early, and if he saw that they had not come yet, he would delay it.'" [1] Meaning, at the earliest time. (Using translation from Nasāʾī 527)  

كَانَ رَسُولُ اللهِ ﷺ يُصَلِّي الظُّهْرَ بِالْهَاجِرَةِ وَالْعَصْرَ وَالشَّمْسُ بَيْضَاءُ نَقِيَّةٌ وَالْمَغْرِبَ إِذَا وَجَبَتِ الشَّمْسُ وَالْعِشَاءَ أَحْيَانًا كَانَ إِذَا رَآهُمْ قَدِ اجْتَمَعُوا عَجَّلَ وَإِذَا رَآهُمْ قَدْ أَبْطَأُوا أَخَّرَ  

[Machine] The Prophet ﷺ used to pray Dhuhr when the sun had passed its zenith, Asr when the sun was still bright, Maghrib when the sun had set, Isha when he saw the people receding in number, he would delay it if he saw them increasing, and Fajr when it was brightening in the horizon. This is reported in the two Sahih collections from the narration of Shu'bah.  

كَانَ النَّبِيُّ ﷺ يُصَلِّي الظُّهْرَ إِذَا زَالَتِ الشَّمْسُ وَالْعَصْرَ وَالشَّمْسُ حَيَّةٌ وَالْمَغْرِبَ إِذَا غَابَتِ الشَّمْسُ وَالْعِشَاءَ إِذَا رَأَى فِي النَّاسِ قِلَّةً أَخَّرَ وَإِذَا رَأَى فِيهِمْ كَثْرَةً عَجَّلَ وَالصُّبْحَ بِغَلَسٍ مُخَرَّجٌ فِي الصَّحِيحَيْنِ مِنْ حَدِيثِ شُعْبَةَ  

[Machine] Regarding the timing of the Prophet's prayer, he said: He used to pray Dhuhr at the beginning of the Hijri hour. He used to pray Asr while the sun was still bright. He used to pray Maghrib when it became obligatory. He used to pray Isha when the people increased, he would hasten and when they decreased, he would delay. And he used to pray Fajr when it was bright.  

عَنْ وَقْتِ صَلَاةِ النَّبِيِّ ﷺ فَقَالَ كَانَ يُصَلِّي الظُّهْرَ بِالْهَاجِرَةِ وَيُصَلِّي الْعَصْرَ وَالشَّمْسُ حَيَّةٌ وَيُصَلِّي الْمَغْرِبَ إِذَا وَجَبَتْ وَيُصَلِّي الْعِشَاءَ إِذَا كَثُرَ النَّاسُ عَجَّلَ وَإِذَا قَلُّوا أَخَّرَ وَيُصَلِّي الصُّبْحَ بِغَلَسٍ  

We asked Jabir about the time of the prayer of the Messenger of Allah ﷺ. He said: He used to offer the Zuhr prayer in the midday heat, the 'Asr prayer when the sun was bright, the Maghrib prayer when the sun had completely set, the Isha prayer early when many people were present, but late if there were few, and the Fajr prayer in the darkness (of the dawn). (Using translation from Abū Dāʾūd 397)   

عَنْ وَقْتِ صَلَاةِ رَسُولِ اللهِ ﷺ فَقَالَ كَانَ يُصَلِّي الظُّهْرَ بِالْهَاجِرَةِ وَالْعَصْرَ وَالشَّمْسُ حَيَّةٌ وَالْمَغْرِبَ إِذَا غَرَبَتِ الشَّمْسُ وَالْعِشَاءَ إِذَا كَثُرَ النَّاسُ عَجَّلَ وَإِذَا قَلُّوا أَخَّرَ وَالصُّبْحَ بِغَلَسٍ