I was with Ibn 'Abbas and a man asked him: "Did the Messenger of Allah recite during Zuhr and 'Asr?" He said: "No." He said: "Perhaps he used to recite to himself?" He said: "May your face be scratched! This question is worse than the first one. The Messenger of Allah was a slave whose Lord commanded him and he conveyed (the message). By Allah, the Messenger of Allah did not specify anything for us above the people, except for three things: He commanded us to perform Wudu' properly, not to consume charity, and not to mate donkeys with horses."
Sunan an-Nasa'i Book 28, Hadith 21