The Prophet got up during the night and went to the toilet and relieved himself, then he washed his face and hands, and went back to sleep. (Sahih)

Another chain with similar wording.
Sunan Ibn Majah Book 1, Hadith 242
← Previous Hadith He came to Ubayy bin Ka'b accompanied by 'Umar. Ubayy came out to them and said: "I noticed some prostatic fluid, so I washed my penis and performed ablution. 'Umar said: "Is that sufficient?" He said: "Yes." He ('Umar) asked: "Did you hear that from the messenger of Allah?" He said: "Yes."

Sunan Ibn Majah Book 1, Hadith 241 Next Hadith → "The Messenger of Allah used to perform ablution for every prayer, and we used to perform all of the prayers with one ablution."

Sunan Ibn Majah Book 1, Hadith 243