The Messenger of Allah ﷺ, Abu Bakr, Umar, and Uthman would begin their recitation with "All praise is due to Allah, Lord of the worlds."
حدثنا قتيبة حدثنا أبو عوانة عن قتادة
كان رسول الله ﷺ وأبو بكر وعمر وعثمان يفتتحون القراءة بالحمد لله رب العالمين
Agreed upon. Bukhari related it, no. 743, and Muslim, no. 52/399, from the hadith of Qatada with the same wording, and Muslim added, "They do not mention Bismillah al-Rahman al-Raheem at the beginning of the recitation nor at its end," meaning they do not say it aloud.