All perfect praise be to Allaah, The Lord of the Worlds. I testify that there is none worthy of worship except Allaah, and that Muhammad, sallallaahu ‘alayhi wa sallam, is His Slave and Messenger.
Prayer of repentance is permissible after committing a sin owing to the Hadeeth which reads: "A slave who commits a sin, then he performs ablution in a good and complete manner and performs two Rak‘ahs and seeks Allaah’s forgiveness, Allaah will forgive him." So, when a man commits a sin, he is allowed to perform two Rak‘ahs as we previously clarified in Fatwa 84513.
However, performing this prayer daily, without committing a sin – to the best of our knowledge – has no basis in the Sharee‘ah.
Allaah Knows best.