Sayyiduna Malik bin Abdullah (may Allah be pleased with him) narrates: I took part in a military expedition with the Prophet (peace and blessings be upon him), and I never prayed behind any imam whose prayer was briefer than that of the Prophet (peace and blessings be upon him) while completing the bowing and prostration.
Ahmad and al-Tabarani in al-Mu'jam al-Kabir recorded it, and its narrators are thiqat (trustworthy).
Hadith Referenceمجمع الزوائد ومنبع الفوائد / كتاب الصلاة / 2362