The specific daily prayers - morning, afternoon, and evening - are not Biblically mandated. In the Talmud (Berachos 26b) there is a disagreement about what their source/basis is. One opinion is that they were originally established respectively by Abraham, Isaac, and Jacob; the other opinion is that they were established by the rabbis of the early Second Temple era and they represent the sacrifices that were offered in the Temple in the morning and afternoon, and the leftovers that were burnt at night.