"And Abraham rose early in the morning" (Genesis 19:27). The patriarchs established the prayers. Abraham established the morning prayer, as it says, "And Abraham rose early" [in the morning]. Isaac established the afternoon prayer, as it says, "And Isaac went out to meditate in the field" (Genesis 24:63), and "meditation" means nothing other than prayer, as it says, "A prayer of the afflicted, when he is faint" (Psalms 102:1). Jacob established the evening prayer, as it says, "And he encountered the place" (Genesis 28:11), and it is written, "And you, do not pray for them, and do not encounter Me" and so on (Jeremiah 7:16).
The Patriarchs Established the Three Daily Prayers
Yalkut Shimoni on Torah 86:1
(פסוק כז) וַיַּשְׁכֵּם אַבְרָהָם בַּבֹּקֶר, תְּפִלּוֹת אָבוֹת תִּקְנוּם. אַבְרָהָם תִּקֵּן תְּפִלָּה שֶׁל שָׁחַר, שֶׁנֶּאֱמַר, וַיַּשְׁכֵּם אַבְרָהָם יִצְחָק תִּקֵּן תְּפִלָּה שֶׁל מִנְחָה, שֶׁנֶּאֱמַר, "וַיֵּצֵא יִצְחָק לָשׂוּחַ בַּשָּׂדֶה" וְאֵין שִׂיחָה אֶלָּא תְּפִלָּה, שֶׁנֶּאֱמַר, (תהלים קב, א) "תְּפִלָּה לֶעָנִי כִי יַעֲטֹף" וְגוֹ'. יַעֲקֹב תִּקֵּן תְּפִלָּה שֶׁל עַרְבִית, שֶׁנֶּאֱמַר, (בראשית כח, יא) "וַיִּפְגַּע בַּמָּקוֹם" וּכְתִיב (ירמי' ז, טז) "וְאַתָּה אַל תִּתְפַּלֵּל בְּעַד וְגוֹ' וְאַל תִּפְגַּע" וְגוֹ'.