Short answer
Yes. The Prophet ﷺ said a man's best prayer is in his home, except the obligatory prayer, so praying the sunnah and nafl at home is better. But if going home means you will skip them or get distracted, pray them in the masjid. Taraweeh and the two rakats on entering a masjid are prayed in the masjid.
Praying the sunnah and nafl prayers at home is better than in the masjid, following the hadith. Later Hanafi scholars added that if a person fears he will not pray them at home, or will be distracted, he should pray them in the masjid. Prayers meant for the masjid, such as taraweeh in congregation and tahiyyat al-masjid, are prayed there.
The four schools agree on this.
Explanation
The fard prayers are for the masjid and the congregation, especially for men. The voluntary prayers are different: the Prophet ﷺ told people to pray them in their homes and not to make their homes like graves, empty of prayer. The four schools agree that praying the sunnah at home is better in principle.
The reasons scholars give: it is further from showing off, it brings blessing to the house, and children grow up seeing their parents pray.
- Sunnah before the fard, such as the two of Fajr or four of Dhuhr: pray them at home before you leave, if there is time.
- Sunnah after the fard: pray them at home if you are going straight back.
- If you will not pray them at home, because you get busy or have a long journey, pray them in the masjid. Praying them is what matters most.
If you pray the sunnah in the masjid, it is sunnah to move a little from the spot where you prayed the fard, and do not pray in front of people still praying or block the rows. Taraweeh is best in congregation; see can you pray taraweeh at home.
The confirmed sunnahs are listed in what are the sunnah prayers. For their status, see is sunnah mu'akkadah compulsory.
The evidence
Sahih al-Bukhari 731
Sahih... فصلوا أيها الناس في بيوتكم فإن أفضل الصلاة صلاة المرء في بيته إلا المكتوبة ...
"So pray, O people, in your homes, for the best prayer is a person's prayer in his home, except the obligatory prayer."
Voluntary prayer is better at home.
Sahih Muslim 777
Sahih... اجعلوا في بيوتكم من صلاتكم ولا تتخذوها قبورا ...
"Make some of your prayers in your homes, and do not make them graves."
Homes should have prayer in them.
Where the ruling is recorded
- Radd al-Muhtar (Ibn Abidin), Kitab al-Salah, chapter on witr and nawafil. Praying nafl and sunnah at home is better, unless one fears leaving them.
- al-Majmu' (Nawawi), Chapter on voluntary prayer. The Shafi'i school also prefers voluntary prayer at home, except prayers made for congregation.
This answer is pending review by the scholars on our team. Quran translation by Sahih International. Hadith Arabic from the standard editions of the six books and the Muwatta, with gradings as recorded there; the English is our own rendering. Spotted a mistake? Tell us.