It is narrated from Sayyiduna Ibn Umar (may Allah be pleased with them both) that the Messenger of Allah (peace and blessings be upon him) used to offer Witr on a camel. Imam Darimi (may Allah have mercy on him) was asked: Do you also say the same? He said: Yes (that is, Witr can be offered on a mount).
Hadith Referenceسنن دارمي / من كتاب الصللاة / 1629
Hadith Takhrijاس روایت کی سند صحیح اور حدیث متفق علیہ ہے۔ دیکھئے: [بخاري 999] ، [مسلم 700] ، [أبوداؤد 1226] ، [ترمذي 472] ، [نسائي 1687] ، [ابن ماجه 1200] ، [أبويعلی 5459] ، [ابن حبان 2413]
Brief Explanation
(Commentary on Hadith 1628)
From this hadith, it is established that offering witr (witr) prayer while mounted on a riding animal is permissible. The esteemed scholars have said: This is evidence for the non-obligation of witr, because the Messenger of Allah (sallallahu alayhi wa sallam) would only perform voluntary (nafl) prayers while mounted, and if it were an obligatory (fard) prayer, he would dismount and perform it. And Allah knows best.