Sayyiduna Imran bin Husayn (may Allah be pleased with him) says that the Messenger of Allah (peace and blessings be upon him) led Zuhr or Asr as three rak'ahs. A man who was called Sayyiduna al-Khirbaq (may Allah be pleased with him) said: "O Messenger of Allah, you have prayed only three rak'ahs." He (peace and blessings be upon him) asked: "Is that really so?" The Companions (may Allah be pleased with them) said: "Yes." He (peace and blessings be upon him) stood up and led one rak'ah, then prostrated, then recited the tashahhud, gave the salam and performed the two prostrations of forgetfulness, after which he gave the salam.
This is the correct version with this wording, and Allah knows best.
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الصلاة / 3898