Is it a condition to make up missed prayers at times similar to their original prescribed times (Dhuhr at Dhuhr time, Asr at Asr time, and so on)?

Scholars have differed on making up missed prayers. The majority opinion is that they must be made up immediately upon remembering them, and it is not permissible to delay them except out of necessity or for the benefit of the prayer. They cite the hadith: "Whoever forgets a prayer, let him pray it when he remembers it."

However, some scholars have permitted delaying the make-up if the delay is due to an excuse, and they interpreted the command in the hadith as a recommendation. They based this on the action of the Prophet (peace be upon him) in the incident where they slept through the prayer until the sun rose, and then prayed after the sun had risen. They argued: if making up the prayer were obligatory immediately, the Prophet (peace be upon him) would not have delayed it.

The majority countered that the Prophet's delay was for the benefit of the prayer, so that it could be performed in a better manner and in a better place.

Some of those who permit delaying the make-up have suggested that it is preferable to make it up at the same time the following day, citing the hadith: "And when it is the next day, let him pray it at its [regular] time." Al-Nawawi interpreted this hadith to mean that the prayer time does not change in the future, and it does not mean making it up twice. He judged other narrations cited as evidence to be erroneous and mistaken.

The correct view is that it is not permissible to delay making up the prayer at all.