Sayyiduna Abdullah bin Umar (may Allah be pleased with him) says: I have performed prayers with the Messenger of Allah (peace and blessings be upon him) during both travel and residence. The Prophet (peace and blessings be upon him) performed four rak‘ahs of Zuhr prayer in residence and then performed two more rak‘ahs after it. He performed four rak‘ahs of ‘Asr prayer and did not perform any prayer after it. He performed three rak‘ahs of Maghrib prayer and then performed two more rak‘ahs after it, and performed four rak‘ahs of ‘Isha prayer. During travel, the Prophet (peace and blessings be upon him) performed two rak‘ahs of Zuhr and then two more rak‘ahs after it, performed two rak‘ahs of ‘Asr prayer and did not perform any more prayer after it, performed three rak‘ahs of Maghrib prayer and then two more rak‘ahs after it, and performed two rak‘ahs of ‘Isha and then two more rak‘ahs after it.

Usama bin Zaid says: I asked Tawus about offering voluntary prayers during travel, while Hasan bin Muslim was also sitting there. Hasan bin Muslim said, and Tawus was listening, that Tawus narrated to us from Sayyiduna Abdullah bin Abbas (may Allah be pleased with him), who said that the Messenger of Allah (peace and blessings be upon him) made the prayers obligatory in both residence and travel. Therefore, just as you offer (voluntary) prayers before and after the obligatory prayer while residing, in the same way, you should also offer the preceding and following (Sunnah) prayers during travel.

Sayyiduna Bara’ bin ‘Azib (may Allah be pleased with him) says: I accompanied the Noble Prophet (peace and blessings be upon him) on eighteen journeys; I never saw him abandon the two rak‘ahs before Zuhr.