It is narrated from Muhammad bin Amr: We asked Sayyiduna Jabir (may Allah be pleased with him) about the time of the prayers of the Messenger of Allah (peace and blessings be upon him). He said that he (peace and blessings be upon him) used to offer the Zuhr prayer at midday, Asr while the sun was still bright, Maghrib when the sun had set, and the Isha prayer: when the people were many he offered it early, and when they were few he offered it late; and he offered the Fajr prayer in the darkness.
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الصلاة / 2113