Is there any proven hadeeth to suggest that the Sahaabah danced, that is quoted as evidence for dancing in dhikr circles?

Firstly: 

The
hadeeth mentioned in the question was narrated by Ahmad (2/213). It was not
classed as saheeh by Shaykh al-Islam Ibn Taymiyah (may Allah have mercy on
him), as far as we know from the books that we have to hand or the books of
his companions. Moreover, when did these Sufis give any weight to Shaykh
al-Islam Ibn Taymiyah, such that they would accept his opinion and verdict
on hadeeths? 

Secondly: 

There
are two problems with the hadeeth mentioned in the question: 

1.

One of
its narrators is unknown, namely Haani’ ibn Haani’. 

Al-Haafiz Ibn Hajar (may Allah have mercy on him) said: 

He was
mentioned by Ibn Sa‘d in the first generation of the people of Kufah. He
said: He was a Shi‘i. Ibn al-Madeeni said: He is unknown. Harmalah said,
narrating from ash-Shaafa‘i: Haani’ ibn Haani’ is not known, and the hadeeth
scholars do not regard his hadeeth as sound because his status is unknown. 

Tahdheeb at-Tahdheeb,
11/22 

2.

Abu
Ishaaq as-Subay‘i deliberately used ambiguous words in order to mislead
(tadlees). 

Abu
Sa‘eed al-‘Alaa’i (may Allah have mercy on him) said: 

‘Amr
ibn ‘Abdullah as-Subay‘i, Abu Ishaaq, is well known by his kunyah; we have
stated previously that he often deliberately used ambiguous words in order
to mislead (tadlees). 

Jaami‘
at-Tahseel fi Ahkaam al-Maraseel,
p. 245 

The
hadeeth was classed as da‘eef (weak) by the commentators on Musnad
al-Imam Ahmad, 2/213, 214. They said: 

Its
isnaad is da‘eef; we have stated previously that Haani’ ibn Haani’ and
others like him cannot be accepted when they narrate hadeeths tha are not
narrated by others. The word “hop” in the hadeeth is objectionable and odd.
End quote. 

Secondly: 

Even
if we assume that the hadeeth is saheeh, it does not indicate that they
danced in a circle of remembrance (dhikr) of their Lord – Allah forbid.
Rather it indicates that they expressed their joy at praise from the Prophet
(blessings and peace of Allah be upon him) by hopping on one foot, which is
an action that is permissible in and of itself. Rather the ruling concerning
it is connected to the reason for their joy. Allah forbid that any of the
wise would quote this as evidence for dancing when remembering his Lord, may
He be exalted. 

Al-Bayhaqi (may Allah have mercy on him) said: 

This –
if it is saheeh – indicates that it is permissible to hop, which means
lifting up one foot and jumping on the other, out of joy. Dancing that is
similar in nature is similarly permissible. And Allah knows best. 

As-Sunan al-Kubra,
by al-Bayhaqi, 10/226 

The
Shaafa‘i faqeeh Ibn Hajar al-Haythami (may Allah have mercy on him) said,
discussing the Sufis’ and others quoting this hadeeth as evidence for it to
be permissible to dance: 

They
also quote (to prove their point) that he said to ‘Ali, “You are of me and I
am of you,” and he began to hop; and he said to Zayd, “You are our brother
and our friend (mawla),” and he began to hop… 

Ibn
Hajar said: 

The
response is that all of these are objectionable hadeeths and the wording is
fabricated and made up. Even if we assume that they are saheeh, they cannot
be regarded as evidence, because what is forbidden is dancing in which there
is swaying and twisting, and this is not like that. End quote. 

Kaff
ar-Ra‘aa‘ ‘an Muharramaat al-Lahw wa’s-Samaa‘,
75. 

Fourthly: 

More
than one of the fuqaha’ of the (four) madhhabs (may Allah have mercy on
them) regard that as misguidance and innovation if it is done as an act of
religious devotion. The one who does that as a leisure activity or for fun
is to be criticized and regarded as foolish.

Imam
Muwaffaq ad-Deen ibn Qudaamah al-Maqdisi (may Allah have mercy on him) was
asked: 

What
do the fuqaha’ (may Allah bless them) say about one who listens to the duff
(hand-drum), flute and singing, and get carried away until he starts to
dance? Is that permissible or not? He believes that he loves Allah and that
his listening to it, getting carried away and dancing are for the sake of
Allah! Please advise us, may Allah reward you and have mercy on you. 

He
said: 

The
one who does that is mistaken and is lacking in decency. The one who
persists in doing those things is one whose testimony is to be rejected
according to sharee‘ah, and his opinion is not to be accepted. The
implication of that is that his narration of hadeeth from the Messenger of
Allah (blessings and peace of Allah be upon him) is not to be accepted, and
neither is his testimony with regard to sighting the new moon of Ramadan or
anything pertaining to religious matters. 

With
regard to him believing that it is based on love of Allah, we say that he
could show his love for Allah and obedience towards Him in other ways, and
he could show devotion to Allah, may He be glorified, and do righteous deeds
in other ways. But as for this, it is a sin and playing about. It was
condemned by Allah, may He be exalted, and His Messenger, and was disliked
(regarded as makrooh) by the scholars, who called it an innovation (bid‘ah)
and forbade people to do it. We cannot draw close to Allah, may He be
glorified, by doing acts of disobedience to Him, and He cannot be obeyed by
doing things that He has forbidden. The one who commits sin as a means of
drawing closer to Him will be met with rejection; the one who takes idle
pursuits and playing about as acts of religious devotion is like one who
spreads mischief in the land. The one who seeks to reach Allah, may He be
glorified, via a way other than the way and Sunnah of the Messenger of Allah
(blessings and peace of Allah be upon him), is far from reaching his goal 

Dhamm
ash-Shabbaabah wa’r-Raqs wa’s-Samaa‘
by Ibn Qudaamah, MS (p. 2) 

Imam
al-‘Izz ibn ‘Abd as-Salaam, the great Shaafa‘i faqeeh and scholar of usool
(may Allah have mercy on him) said: 

With
regard to dancing and clapping, it is frivolity and silliness like that of
females; no one does such things except one who is a show-off or a liar. How
could anyone regard it as justifiable to dance to the rhythm of the music
and become oblivious when the Prophet (blessings and peace of Allah be upon
him) said, “The best generations are my generation, then those who come
after them, then those who come after them,” and no one among those
exemplary generations did such things? It cannot be imagined that one who
fears Allah and understands anything of what it means to venerate Him would
dance or clap. Clapping and dancing only come from one who is foolish and
ignorant; they do not come from anyone who is wise and virtuous. 

Qawaa‘id al-Ahkaam fi Masaalih al-Anaam,
2/2349-350, Mu’sasat ar-Rayyaan edn. 

The
scholars of the Standing Committee were asked about the Islamic ruling on
those who remember Allah whilst swaying right and left in a trance, reciting
in unison and out loud. 

They
replied: 

That
is not permissible, because it is done in an innovated fashion. The Prophet
(blessings and peace of Allah be upon him) said “Whoever introduces into
this matter of ours anything that is not part of it will have it rejected.” 

Shaykh
‘Abd al-‘Azeez ibn Baaz, Shaykh ‘Abd ar-Razzaaq ‘Afeefi, Shaykh ‘Abdullah
ibn Ghadyaan, Shaykh ‘Abdullah ibn Qa‘ood 

Fataawa al-Lajnah ad-Daa’imah,
2/529 

And
Allah knows best.