The number of prayers is not prescribed in the Torah, nor does it prescribe a specific formula for prayer. Also, according to Torah law, there are no fixed times for prayers.
Hearken O Israel:
YHWH our God, YHWH is One! So you are to love YHWH your God with all your heart, with all your being, with all your substance! And these words, which I myself command you today, are to be upon your heart. You are to repeat them with your children and are to speak of them in your sitting in your house and in your walking in the way, in your lying down and in your rising up. You are to tie them as a sign upon your hand, and they are to be for bands between your eyes. And you are to write them upon the doorposts of your house and on your gates.
Now it shall be: if you hearken, yes, hearken to my commandments that I command you today, to love YHWH your God and to serve him with all your heart and with all your being: I will give forth the rain of your land in its due-time, shooting-rain and later-rain; you shall gather in your grain, your new-wine and your shining-oil; I will give forth herbage in your field, for your animals, and you will eat and you will be satisfied. Take you care, lest your heart be seduced, so that you turn aside and serve other gods and bow down to them, and the anger of YHWH flare up against you so that he shuts up the heavens, and there is no rain, and the earth does not give forth its yield, and you perish quickly from off the good land that YHWH is giving you! You are to place these my words upon your heart and upon your being; you are to tie them as a sign on your hand, and let them be as bands between your eyes; you are to teach them to your children, by speaking of them in your sitting in your house, in your walking on the way, in your lying down, in your rising up; you are to write them upon the doorposts of your house, and on your gates, in order that your days may be many, along with the days of your children on the land that YHWH swore to your fathers, to give them [as long] as the days of the heavens over the earth.
YHWH said to Moshe, saying: Speak to the Children of Israel and say to them that they are to make themselves tassels on the corners of their garments, throughout their generations, and are to put on the corner tassel a thread of blue-violet. It shall be a tassel for you, that you may look at it and keep-in-mind all the commandments of YHWH and observe them, that you not go scouting-around after your heart, after your eyes which you go whoring after; in order that you may keep-in-mind and observe all my commandments, and [so] be holy to your God! I am YHWH your God, who took you out of the land of Egypt, to be a God to you; I am YHWH your God!
אָמַר רַבִּי יְהוֹשֻׁעַ בֶּן קָרְחָה, לָמָּה קָדְמָה שְׁמַע לִוְהָיָה אִם שָׁמֹעַ, אֶלָּא כְדֵי שֶׁיְּקַבֵּל עָלָיו עֹל מַלְכוּת שָׁמַיִם תְּחִלָּה, וְאַחַר כָּךְ יְקַבֵּל עָלָיו עֹל מִצְוֹת. וְהָיָה אִם שָׁמֹעַ לְוַיֹּאמֶר, שֶׁוְהָיָה אִם שָׁמֹעַ נוֹהֵג בַּיּוֹם וּבַלַּיְלָה, וַיֹּאמֶר אֵינוֹ נוֹהֵג אֶלָּא בַּיּוֹם:
Rabbi Yehoshua ben Karchah said: Why does Shema precede Vehayah im shamoa? So that one may accept the yoke of the kingdom of heaven first, and after that accept the yoke of the commandments. And [why does] Vehayah im shamoa [precede] Vayomer? Because Vehayah im shamoa applies during the day and at night, and Vayomer only applies during the day.
"Hear O Israel..." (Deuteronomy 6:4-9),
"And if you will listen..." (Deuteronomy 11:13-21),and
"And God said..." (Numbers 15:37-41).
We begin with the section of "Hear O Israel" since it contains [the concept of] the unity of God, [the commandment of] loving Him and the study of Torah, it being a fundamental principle upon which everything is based.
After it, [we read] "And if you will listen...," since it contains the imperative to fulfill the rest of the commandments, and finally the portion of tzitzit, since it also contains the imperative of remembering all the commandments.
שלשה דברים נתנו על תנאי, ארץ ישראל ובית המקדש ומלכות בית דוד, חוץ מספר תורה ובריתו של אהרן שלא נתנו על תנאי...
ומנין לספר תורה שלא ניתן על תנאי, שנ' (דברים לג) תורה צוה לנו משה מורשה...
Three things were given conditionally: Eretz Yisrael, the Temple, and the kingdom of the house of David, but not the Torah scroll and the covenant of Aaron, which were not given conditionally...
And whence is it derived that the Torah scroll was given unconditionally? From (Devarim 33:4) "The Torah which Moses commanded us is the (eternal) inheritance of the congregation of Jacob."...