Abdullah bin Umar reported,
The Messenger of Allah ﷺ dispatched an expedition and placed Usama bin Zayd in command over them. Some people criticized his appointment, so the Prophet ﷺ said, "If you criticize his command, you also criticized the command of his father before him. By Allah, he was truly worthy of command, and he was among the dearest of people to me, and this one is among the dearest of people to me after him."
Tirmidhi 3816
Sahihحدثنا أحمد بن الحسن حدثنا عبد الله بن مسلمة عن مالك بن أنس عن عبد الله بن دينار
عن ابن عمر
أن رسول الله ﷺ بعث بعثا وأمر عليهم أسامة بن زيد فطعن الناس في إمرته فقال النبي ﷺ إن تطعنوا في إمرته فقد كنتم تطعنون في إمرة أبيه من قبل وايم الله إن كان لخليقا للإمارة وإن كان من أحب الناس إلي وإن هذا من أحب الناس إلي بعده
Sourcing, agreed upon by Bukhari and Muslim. Bukhari narrated it in the Book of Military Expeditions, chapter on the Prophet ﷺ sending Usama bin Zayd 
during his final illness in which he died, hadith no. 4469, from the hadith of Malik. Muslim narrated it, hadith no. 2426, from the hadith of Abdullah bin Dinar with the same wording.