Anas ibn Mālik (may Allah be pleased with him) reported: I have never prayed behind an Imām who was more brief and more perfect in prayer than the Prophet (may Allah's peace and blessings be upon him).
The Prophet (may Allah's peace and blessings be upon him) used to command people to adopt facilitation, and he used to invite them to that by words and actions. An aspect of facilitation is shortening the prayer while, at the same time, giving the act of worship its due right of completion and perfection. Anas ibn Mālik stated that he never prayed behind an Imām whose prayer was shorter than that of the great Imām, Muhammad (may Allah's peace and blessings be upon him) due to his making things easier for those praying behind him so that they would not leave the prayer while wishing to complete it. At the same time, no prayer was more perfect than that of the Prophet (may Allah's peace and blessings be upon him) who used to perform it in the most perfect and complete manner, without neglecting any part; rather, he would perfect it by performing what is obligatory and what is recommended, and this was from the effects of his blessing.