It is narrated from Sayyiduna Sa'id bin al-As (may Allah be pleased with him) that he recited aloud in the Zuhr or Asr prayer. The people began saying "Subhan Allah", but he continued his recitation. When he had completed the prayer, he said: Every prayer has recitation, and it was not opposition to the Sunnah that led me to do this; rather, I began the recitation out of forgetfulness, but I did not like to break off the recitation.
It is reported via Qatadah (may Allah have mercy on him) that Sayyiduna Anas bin Malik (may Allah be pleased with him) recited aloud in the Zuhr and Asr prayers and did not perform the prostration of forgetfulness.
Something similar is also reported from Sayyiduna Khabbab bin al-Aratt (may Allah be pleased with him), and on this matter it is also reported from Sayyiduna Umar and Sayyiduna Abdullah bin Mas'ud (may Allah be pleased with them both).
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الصلاة / 3866