From Sahih Muslim (Hadith 4018):
Abdullah (b. Umar) (Allah be pleased with them) reported:Allah's Messenger (ﷺ) ordered the killing of dogs and we would send (men) in Medina and its corners and we did not spare any dog that we did not kill, so much so that we killed the dog that accompanied the wet she-camel belonging to the people of the desert
Reference: Muslim 4018