Sayyiduna Zayd bin Thabit (may Allah be pleased with him) narrates: One day in the morning we were going along with the Prophet (peace and blessings be upon him) until we reached the place in Madinah where several roads meet. There we saw a Bedouin holding the halter of his camel. He came and stopped before the Prophet (peace and blessings be upon him), while we were around the Prophet (peace and blessings be upon him). He said: "O Prophet! Peace be upon you, and the mercy of Allah Almighty and His blessings." The Prophet (peace and blessings be upon him) returned his greeting. The Prophet (peace and blessings be upon him) asked: "How are you?" The narrator narrates: Meanwhile the camel began to make sounds. Then a man came who looked like a guard. That guard said: "O Messenger of Allah! This Bedouin has stolen the camel." The narrator says: The camel kept making sounds and moaning for a while, and the Prophet (peace and blessings be upon him) listened attentively to its moaning and its sounds. When the camel calmed down, the Prophet (peace and blessings be upon him) turned to the guard and said to him: "Leave him alone! For this camel has testified against you that you are lying." So the guard went away. The Prophet (peace and blessings be upon him) turned to the Bedouin and said: "What did you say when you came to me?" The narrator says: He said: "I said: May my mother and father be sacrificed for you, O Allah, send down mercy upon Sayyiduna Muhammad (peace and blessings be upon him) until no mercy remains; O Allah, send down blessing upon Sayyiduna Muhammad (peace and blessings be upon him) until no blessing remains; O Allah, send down peace upon Sayyiduna Muhammad (peace and blessings be upon him) until no peace remains; O Allah, have mercy on Sayyiduna Muhammad (peace and blessings be upon him) until no mercy remains." The Prophet (peace and blessings be upon him) said: "Allah Almighty revealed it to me while the camel was speaking of its excuse, and the angels had filled the horizon."
Al-Tabarani recorded it; its chain contains narrators whom I do not know.