The Messenger of Allah ﷺ made his camel kneel at the open valley in Dhul Hulayfah and prayed there.
قال قرأت على عبد الرحمن مالك عن نافع
أن رسول الله ﷺ أناخ بالبطحاء التي بذي الحليفة فصلى بها
Its isnad is sahih. It is an abridgment of 6004 and 6205. This narration here is found in Muwatta 1:358.