It is narrated from Sayyiduna Jabir (may Allah be pleased with him) that the Messenger of Allah (peace and blessings be upon him) used to perform (optional) prayers on his camel facing towards the east, and when he performed obligatory prayers, he would dismount from the animal and then face the Qiblah to pray.

Sayyiduna Amir bin Rabi’ah (may Allah be pleased with him) said that I saw the Messenger of Allah (peace and blessings be upon him) performing voluntary prayers on a she-camel, praying by gesturing with his head, without considering which direction the mount was facing, but in obligatory prayers, the Messenger of Allah (peace and blessings be upon him) did not do so.