Narrated Abu Huraira: When the Prophet (ﷺ) said, "Sami`a l-lahu liman hamidah," (Allah heard those who sent praises to Him), he would say, "Rabbana wa laka l-hamd." On bowing and raising his head from it the Prophet (ﷺ) used to say Takbir. He also used to say Takbir on rising after the two prostrations. (See Hadith No. 656).
Source: sunnah.com
Other translations
Arabic
حَدَّثَنَا آدَمُ، قَالَ حَدَّثَنَا ابْنُ أَبِي ذِئْبٍ، عَنْ سَعِيدٍ الْمَقْبُرِيِّ، عَنْ أَبِي هُرَيْرَةَ، قَالَ كَانَ النَّبِيُّ صلى الله عليه وسلم إِذَا قَالَ " سَمِعَ اللَّهُ لِمَنْ حَمِدَهُ ". قَالَ " اللَّهُمَّ رَبَّنَا وَلَكَ الْحَمْدُ ". وَكَانَ النَّبِيُّ صلى الله عليه وسلم إِذَا رَكَعَ وَإِذَا رَفَعَ رَأْسَهُ يُكَبِّرُ، وَإِذَا قَامَ مِنَ السَّجْدَتَيْنِ قَالَ " اللَّهُ أَكْبَرُ ".
sunnah.com