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