Prayer of fear can be performed walking or riding.
1 hadith
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Hadith 525
In another narration, Sayyiduna Abdullah bin Umar (may Allah be pleased with them both) reports (the statement of the Messenger of Allah, peace and blessings be upon him): "If the enemy are more than them (the Muslim soldiers), then (these Muslim soldiers) should perform the prayer, whether on foot or mounted, in whatever way is possible."