Hadith 365

قَالَ أَبُو بَكْرٍ فِي خَبَرِ عَبْدِ اللَّهِ بْنِ زَيْدٍ: «كَانَ رَسُولُ اللَّهِ صَلَّى اللهُ عَلَيْهِ وَسَلَّمَ حِينَ قَدِمَ الْمَدِينَةَ إِنَّمَا يَجْتَمِعُ النَّاسُ إِلَيْهِ لِلصَّلَاةِ بِحِينِ مَوَاقِيتِهَا بِغَيْرِ دَعْوَةٍ»
Imam Abu Bakr (may Allah have mercy on him) says that in the narration of Sayyiduna Abdullah bin Zaid (may Allah be pleased with him), when the Messenger of Allah (peace and blessings be upon him) arrived in Madinah Munawwarah, people used to gather with him for prayer at their appointed times without any adhan.
Hadith Reference صحيح ابن خزيمه / جماع أبواب الأذان والإقامة / 365