كتاب صلاة المسافرين وقصرها
6  
The Book of Prayer - Travellers
(17)
Chapter: Night prayers and the number of rak`ah offered by the Prophet (saws) at night, and that Witr is one rak`ah, and a one-rak`ah prayer is correct
(17)
باب صَلاَةِ اللَّيْلِ وَعَدَدِ رَكَعَاتِ النَّبِيِّ صَلَّى اللَّهُ عَلَيْهِ وَسَلَّمَ فِي اللَّيْلِ وَأَنَّ الْوِتْرَ رَكْعَةٌ وَأَنَّ الرَّكْعَةَ صَلاَةٌ صَحِيحَةٌ
Sahih Muslim 741

Masruq is reported to have asked 'A'isha about the action (most pleasing to) the Messenger of Allah (ﷺ). She said:

He (the Holy Prophet) loved (that action) which one keeps on doing regularly. I said (to 'A'isha): When did he pray (at night)? She replied: When he heard the cock crow, he got up and observed prayer.
حَدَّثَنِي هَنَّادُ بْنُ السَّرِيِّ، حَدَّثَنَا أَبُو الأَحْوَصِ، عَنْ أَشْعَثَ، عَنْ أَبِيهِ، عَنْ مَسْرُوقٍ، قَالَ سَأَلْتُ عَائِشَةَ عَنْ عَمَلِ، رَسُولِ اللَّهِ صلى الله عليه وسلم فَقَالَتْ كَانَ يُحِبُّ الدَّائِمَ ‏.‏ قَالَ قُلْتُ أَىَّ حِينٍ كَانَ يُصَلِّي فَقَالَتْ كَانَ إِذَا سَمِعَ الصَّارِخَ قَامَ فَصَلَّى ‏.‏
Reference : Sahih Muslim 741
In-book reference : Book 6, Hadith 159
USC-MSA web (English) reference : Book 4, Hadith 1614
  (deprecated numbering scheme)