Sunan Abi Dawud Book 4, Hadith 28

When the Messenger of Allah (ﷺ) was on a journey and wished to say voluntary prayer, he made his she-camel face the qiblah and uttered the takbir (Allah is most great), then prayed in whatever direction his mount made his face.

Previous Hadith

While travelling the Messenger of Allah (ﷺ) would pray voluntary prayer on his riding beast in whatever direction it turned; and he would observe witr prayer, but he did not offer the obligatory prayers upon it.

Sunan Abi Dawud Book 4, Hadith 27
Next Hadith

I saw the Messenger of Allah (ﷺ) praying on a donkey while he was facing Khaibar.

Sunan Abi Dawud Book 4, Hadith 29