Fiqh-us-Sunnah Volume 1, Purification and Prayer, Fiqh 1.090A.

Most scholars agree that one can make up missed prayers after the morning or afternoon prayers. This is based on the Prophet’s words, “If someone forgets the prayer, he should pray it when he remembers  it.” (Related by al-Bukhari and Muslim.)

Concerning voluntary prayers, the following companions disliked such prayers during those times: ‘Ali, Ibn Mas’ud, Abu Hurairah and Ibn ‘Umar. ‘Umar used to beat those who offered two rak’ah after the afternoon prayers (in the presence of other companions), and was not rebuked. Khalid ibn al-Waleed also used to do this. Those tabi’een who disliked such prayers were al-Hassan and Sa’eed ibn al-Musayyab. Abu Hanifah and Malik also hated such prayers. Ash-Sahf i reasoned that prayers at such times are allowable if the person has a reason for that prayer (the prayer of salutation to the mosque, or the prayers after one performs the ablution, and so on). He uses as a proof the fact that the Prophet, upon whom be peace, prayed the two noon sunnah rak’ah after the afternoon prayers. The Hanbaliyyah say that it is forbidden to pray during such times even if one has a reason to do so, except in the case of the two rak’ah for the circumambulation of the Ka’bah. This is based on the hadith from Jabir ibn Mut’am that the Prophet said, “O tribe of ‘Abd Manat, do not prevent anyone from circumambulating this house (the Ka’bah) or from praying therein at any time they wish.”

As to the authenticity of the report, it is related by Abu Dawud, an-Nasa’i, at-Tirmizhi and Ibn Majah. At-Tirmizhi and Ibn Khuzaimah called it sahih.