It was narrated from Abu Qatadah that when they missed the prayer because they slept until the sun rose, the Messenger of Allah (ﷺ) said:
"Let any one of you pray it during its time tomorrow." (JA)
English reference (JA): Vol. 1, Book 6, Hadith 618 (JA)
Arabic reference (JA): Book 6, Hadith 624 (JA)