Yahya related to me from Malik from Yazid ibn Ziyad that Abdullah
ibn Rafi, the mawla of Umm Salama, the wife of the Prophet, may Allah
bless him and grant him peace, asked Abu Hurayra about the time of the
prayer. Abu Hurayra said, "Let me tell you. Pray dhuhr when the length
of your shadow matches your height, asr when your shadow is twice your
height, maghrib when the sun has set, isha in the first third of the
night, and subh in the very first light of dawn," i.e. when the dawn
has definitely come.
Muwatta Malik Book 1, Hadith 9