A prayer like that of Hudhaifah was narrated from Zaid bin Thabit from the Prophet (ﷺ).
Sunan an-Nasa'i Book 18, Hadith 3
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"We were with Sa'eed bin Al-'Asi in Tabaristan, and Hudhaifah bin Al-Yaman was with us. He said: 'Which of you offered the fear prayer with the Messenger of Allah (ﷺ)?' Hudhaifah said: 'I did.' So Hudhaifah stood and the people formed two rows behind him, one row behind him and one row facing the enemy. He led those who were behind him in praying one rak'ah, then they went and took the place of the others, and the others came and he led them in praying one rak'ah, and they did not make it up."
Sunan an-Nasa'i Book 18, Hadith 2 Next Hadith → "Allah (SWT) enjoined the prayer on the tongue of your Prophet (ﷺ): four (rak'ahs) while a resident, two rak'ahs while traveling, and one rak'ah during times of fear."
Sunan an-Nasa'i Book 18, Hadith 4
Sunan an-Nasa'i Book 18, Hadith 2 Next Hadith → "Allah (SWT) enjoined the prayer on the tongue of your Prophet (ﷺ): four (rak'ahs) while a resident, two rak'ahs while traveling, and one rak'ah during times of fear."
Sunan an-Nasa'i Book 18, Hadith 4