"The Messenger of Allah said: 'Whoever forgets a prayer, let him perform it when he remembers it.'" (Using translation from Ibn Mājah 696)  

قَالَ رَسُولُ اللَّهِ ﷺ «مَنْ نَسِيَ صَلَاةً فَلْيُصَلِّهَا إِذَا ذَكَرَهَا»  

The Prophet ﷺ said, "If anyone forgets a prayer he should pray that prayer when he remembers it. There is no expiation except to pray the same." Then he recited: "Establish prayer for My (i.e. Allah's) remembrance." (20.14). (Using translation from Bukhārī 597)  

أَنَّ رَسُولَ اللَّهِ ﷺ قَالَ «مَنْ نَسِيَ صَلَاةً فَلْيُصَلِّهَا إِذَا ذَكَرَهَا لَا كَفَّارَةَ لَهَا إِلَّا ذَلِكَ»  

[Machine] When the Messenger of Allah ﷺ and his companions missed a prayer due to sleep, the Messenger of Allah ﷺ said: "Pray it tomorrow at its designated time."  

أَنَّ رَسُولَ اللَّهِ ﷺ وَأَصْحَابَهُ لَمَّا نَامُوا عَنِ الصَّلَاةِ قَالَ رَسُولُ اللَّهِ ﷺ «صَلُّوهَا الْغَدَ لِوَقْتِهَا»  

[Machine] We accompanied the Messenger of Allah ﷺ in a battle. When it was late at night, he got married. As soon as he woke up, he woke us up before the heat of the sun. The man stood up astonished and terrified. The Messenger of Allah ﷺ said, "Mount (your horses)." He mounted his horse and we mounted ours, and we set off until the sun rose. Then he stopped and ordered Bilal to call the Adhan. The people finished their needs, performed ablution, and prayed two Rak'ahs. Then he led us in prayer. We said, "O Messenger of Allah, should we make up these prayers at their prescribed time tomorrow?" He said, "Does your Lord forbid you from praying at the time of their occurrence and accept it from you?"  

سِرْنَا مَعَ رَسُولِ اللَّهِ ﷺ فِي غَزَاةٍ فَلَمَّا كَانَ مِنْ آخِرِ اللَّيْلِ عَرَّسَ فَمَا اسْتَيْقَظَ حَتَّى أَيْقَظَنَا حَرُّ الشَّمْسِ فَجَعَلَ الرَّجُلُ يَقُومُ دَهِشًا فَزِعًا فَقَالَ رَسُولُ اللَّهِ ﷺ «ارْكَبُوا» فَرَكِبَ وَرَكِبْنَا فَسَارَ حَتَّى ارْتَفَعَتِ الشَّمْسُ ثُمَّ نَزَلَ فَأَمَرَ بِلَالًا فَأَذَّنَ وَفَرَغَ الْقَوْمُ مِنْ حَاجَاتِهِمْ وَتَوَضَّؤُوا وَصَلَّوَا الرَّكْعَتَيْنِ ثُمَّ أَقَامَ فَصَلَّى بِنَا فَقُلْنَا يَا رَسُولَ اللَّهِ أَلَا نَقْضِيهَا لِوَقْتِهَا مِنَ الْغَدِ؟ قَالَ «يَنْهَاكُمْ رَبُّكُمْ عَنِ الرِّبَا وَيَقْبَلُهُ مِنْكُمْ؟ »  

"We stopped to camp at the end of the night with the Messenger of Allah ﷺ, and we did not wake up until the sun had risen. The Messenger of Allah ﷺ said: 'Let each man take hold of his camel's head (and leave), for the Shaitan was here in this place with us.' We did that, then he called for water and performed Wudu', then he prayed two Rak'ahs, then the Iqamah was said and he prayed Al-Ghadah (Fajr)." (Using translation from Nasāʾī 623)  

عَرَّسْنَا مَعَ رَسُولِ اللَّهِ ﷺ فَلَمْ نَسْتَيْقِظْ حَتَّى طَلَعَتِ الشَّمْسُ فَقَالَ رَسُولُ اللَّهِ ﷺ «لِيَأْخُذْ كُلُّ إِنْسَانٍ بِرَأْسِ رَاحِلَتِهِ فَإِنَّ هَذَا لَمَنْزِلٌ حَضَرَنَا فِيهِ الشَّيْطَانُ» فَفَعَلْنَا فَدَعَا بِالْمَاءِ فَتَوَضَّأَ ثُمَّ صَلَّى سَجْدَتَيْنِ ثُمَّ أُقِيمَتِ الصَّلَاةُ  

It was narrated from Abu Hurairah that the Prophet ﷺ slept and missed the two Rak’ah before Fajr, so he made them up after the sun had risen. (Using translation from Ibn Mājah 1155)   

«أَنَّ النَّبِيَّ ﷺ نَامَ عَنْ رَكْعَتَيِ الْفَجْرِ فَصَلَّاهَا بَعْدَمَا طَلَعَتِ الشَّمْسُ»  

[Machine] The Messenger of Allah ﷺ prayed the afternoon prayer and then entered my house and prayed two units of prayer. I said, "O Messenger of Allah, you prayed a prayer that you did not usually pray?" He said, "I was occupied by some wealth that came to me, so I missed those two units of prayer that I used to perform before the afternoon prayer, and I have now prayed them." I said, "O Messenger of Allah, should we make them up if we miss them?" He said, "No."  

صَلَّى رَسُولُ اللَّهِ ﷺ الْعَصْرَ ثُمَّ دَخَلَ بَيْتِي فَصَلَّى رَكْعَتَيْنِ فَقُلْتُ يَا رَسُولَ اللَّهِ صَلَّيْتَ صَلَاةً لَمْ تَكُنْ تُصَلِّيهَا فَقَالَ «قَدِمَ عَلَيَّ مَالٌ فَشَغَلَنِي عَنْ رَكْعَتَيْنِ كُنْتُ أَرْكَعُهُمَا قَبْلَ الْعَصْرِ فَصَلَّيْتُهُمَا الْآنَ» فَقُلْتُ يَا رَسُولَ اللَّهِ أَفَنَقْضِيهِمَا إِذَا فَاتَتْنَا؟ قَالَ «لَا»