It was narrated that Safwan bin 'Assal said:
"The Prophet (ﷺ) granted us a dispensation when traveling, allowing us not to take off our Khuffs for three days and three nights." (ES)
English reference (ES): Vol. 1, Book 1, Hadith 126 (ES)
Arabic reference (ES): Book 1, Hadith 127 (ES)