I accompanied Ibn 'Umar on the way (on a journey). He led us in two rak'ah's of (the noon) prayer. Then he proceeded and saw some people standing. He asked: What are they doing ? I replied: They are glorifying Allah (i.e. offering supererogatory prayer). He said: If I had offered the supererogatory prayer (while travelling), I would have completed prayer, my cousin. I accompanied the Messenger of Allah ﷺ during the journey, he did not pray more than two raka'at until his death. I also accompanied Abu Bakr, and he prayed two raka'at and nothing more until he died. I also accompanied 'Umar, and he prayed two raka'at and nothing more until he died. I also accompanied 'Uthman, and he prayed two raka'at and nothing more until he died. Indeed Allah, the Exalted, said: "Certainly you have in the Messenger of Allah an excellent exemplar" (Using translation from Abū Dāʾūd 1223)   

لَوْ كُنْتُ مُسَبِّحًا أَتْمَمْتُ صَلَاتِي يَا ابْنَ أَخَى إِنِّي صَحِبْتُ رَسُولَ اللهِ ﷺ فِي السَّفَرِ فَلَمْ يَزِدْ عَلَى رَكْعَتَيْنِ حَتَّى قَبَضَهُ اللهُ وَصَحِبْتُ أَبَا بَكْرٍ ؓ فَلَمْ يَزِدْ عَلَى رَكْعَتَيْنِ حَتَّى قَبَضَهُ اللهُ وَصَحِبْتُ عُمَرَ فَلَمْ يَزِدْ عَلَى رَكْعَتَيْنِ حَتَّى قَبَضَهُ اللهُ وَصَحِبْتُ عُثْمَانَ فَلَمْ يَزِدْ عَلَى رَكْعَتَيْنِ حَتَّى قَبَضَهُ اللهُ وَقَدْ قَالَ اللهُ ﷻ {لَقَدْ كَانَ لَكُمْ فِي رَسُولِ اللهِ أُسْوَةٌ حَسَنَةٌ} [الأحزاب 21]  

[Machine] He did not pray with the obligatory prayer while traveling anything before or after except during the middle of the night, as he used to pray on his camel or on his riding animal wherever it went.  

أَنَّهُ لَمْ يَكُنْ يُصَلِّي مَعَ الْفَرِيضَةِ فِي السَّفَرِ شَيْئًا قَبْلَهَا وَلَا بَعْدَهَا إِلَّا مِنْ جَوْفِ اللَّيْلِ فَإِنَّهُ كَانَ يُصَلِّي عَلَى بَعِيرِهِ أَوْ عَلَى رَاحِلَتِهِ حَيْثُ مَا تَوَجَّهَتْ بِهِ