It is narrated from Sayyiduna Taliq that he asked the Prophet (peace and blessings be upon him) about the ruling of praying in a single garment: so the Prophet (peace and blessings be upon him) removed his lower garment and wrapped it around himself, then stood and began to pray. After the prayer, he said: Does each one of you have two garments available?
Hadith Referenceمسند احمد / مسند المدنيين رضي الله عنهم اجمعين / 16285
Hadith Gradingحکم دارالسلام:صحيح لغيره، وهذا إسناد حسن