Imran bin Husain (may Allah be pleased with him) narrates that the Prophet (ﷺ) concluded the ‘Asr prayer after three rak‘ahs. Then he stood up and went into his chamber. Khirbaq, who was a man with long arms, stood up and called out: “O Messenger of Allah! Has the prayer been shortened?” The Prophet (ﷺ) came out dragging his cloak in anger, asked the people, and was informed (that he had led three rak‘ahs). He then completed the missed rak‘ah, performed two prostrations, and (afterwards) concluded with salam.
Hadith Referenceمسند الإمام الشافعي / كتاب الصلاة / 332
Hadith Takhrijأخرجه مسلم: المساجد، باب السهو في الصلاة والسجود له: 574.