It is reported from Sayyiduna Imran bin Husayn (may Allah be pleased with him) that the Messenger of Allah (peace and blessings be upon him) led the Zuhr or Asr prayer with three rak'ahs. A man called al-Khirbaq said to him (peace and blessings be upon him): O Messenger of Allah, you have prayed only three rak'ahs. He (peace and blessings be upon him) said: "Is that so?" The Companions said: Yes. So he (peace and blessings be upon him) prayed one rak'ah, then recited the tashahhud and said the salam, then performed the prostration of forgetfulness (sujud al-sahw).
Hadith Referenceالمعجم الكبير للطبراني / باب العين / 15556