Ruling on making up the regular voluntary prayers if they are missed

The honorable Shaykh! Is it permissible to make up the regular voluntary prayers if they are missed?
Making up the regular voluntary prayer is a recommended practice if it is missed. The evidence for this is that when the Prophet (peace and blessings be upon him) slept through the Fajr prayer and did not wake up until after the sun had risen, he first prayed the Fajr sunnah, and then he prayed the Fajr prayer after it.