Caution: Translations of Quran and Ḥadīth may lead to possible misapplications and misinterpretations. This site is intended for students of sacred knowledge that are proficient in comprehending classical Arabic and have a strong foundation in Islamic sciences. Also note that religious injunctions rely on several aspects beyond what one may glean through reading individual aḥādīth.
abudawud:769al-Qaʿnabī > Mālik

There is no harm in uttering supplication in prayer, in its beginning, in its middle, and in the end, in obligatory prayer or other.  

أبو داود:٧٦٩حَدَّثَنَا الْقَعْنَبِيُّ عَنْ مَالِكٍ قَالَ

لاَ بَأْسَ بِالدُّعَاءِ فِي الصَّلاَةِ فِي أَوَّلِهِ وَأَوْسَطِهِ وَفِي آخِرِهِ فِي الْفَرِيضَةِ وَغَيْرِهَا