Abu Malik al-Ashja'i narrates from his father: "I prayed behind the Messenger of Allah (peace and blessings be upon him), and behind Sayyiduna Abu Bakr, Sayyiduna Umar and Sayyiduna Ali (may Allah be pleased with them), and none of them led a lighter prayer than the Messenger of Allah (peace and blessings be upon him), while being complete."
Hadith Referenceالمعجم الكبير للطبراني / باب الطاء / 8158