It was narrated from Nasr bin 'Abdur-Rahman, from his grandfather Mu'adh, that he performed Tawaf with Mu'adh bin 'Afra' but he did not pray. "I said:
'Are you not going to pray?' He said: 'The Messenger of Allah (ﷺ) said: 'There is no prayer after 'Asr until the sun has set, nor after Subh until the sun has risen.'"
English reference: Vol. 1, Book 6, Hadith 519
Arabic reference: Book 6, Hadith 523