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." (RU)
English reference (RU): Vol. 1, Book 1, Hadith 126 (RU)
Arabic reference (RU): Book 1, Hadith 127 (RU)