Sayyiduna Abu Qatadah (may Allah be pleased with him) said that the Messenger of Allah (peace and blessings be upon him) used to recite in the first two rak'ahs of Zuhr and Asr, and sometimes he would let us hear a verse. He would lengthen the first rak'ah and shorten the second, and he would recite in the first two rak'ahs of Maghrib.
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الصلاة / 3863
Sayyiduna Abu Qatadah (may Allah be pleased with him) narrates that the Prophet (peace and blessings be upon him) used to recite Surah al-Fatihah and two surahs along with it in the first two rak'ahs of Zuhr and Asr, and at times he would let us hear a verse or so; and he used to lengthen the first rak'ah.
We have already narrated the report of Sayyiduna Abu Abdullah al-Sunabihi (may Allah be pleased with him) that he heard Sayyiduna Abu Bakr al-Siddiq (may Allah be pleased with him) recite, in the third rak'ah of Maghrib, Surah al-Fatihah and this verse: "Our Lord, do not let our hearts deviate after You have guided us, and grant us special mercy from Yourself. Indeed, You are the Bestower." [Surah Al Imran: 8]
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الصلاة / 3864
(a) Abdullah bin Ziyad says: I heard Abdullah (may Allah be pleased with him) reciting in Zuhr and Asr.
(b) Imam al-Shafi'i (may Allah have mercy on him) says: In our view, this does not necessitate (the prostration of) forgetfulness.
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الصلاة / 3865
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