Could you please tell me:
* What religion or tradition are you interested in? For example, are you looking for examples from Christianity, Judaism, Islam, Hinduism, Buddhism, or another religion?
* What specific time period are you interested in? Different eras have produced different styles of religious poetry and music.
* What kind of "public worship" are you interested in? Are you looking for prayers chanted in a formal liturgical setting, or are you interested in more informal settings like prayer meetings or home gatherings?
Once I have more information, I can provide you with a more specific answer.
For example, here are some examples of poetic prayers intended to be chanted or sung in public worship, based on different religions and traditions:
* Christianity: Psalms in the Bible, hymns, and chants in various denominations.
* Judaism: Hebrew prayers, liturgical poetry, and chants in synagogues.
* Islam: The Quran (recited in Arabic), and devotional poetry (like the works of Rumi).
* Hinduism: Vedic hymns, devotional songs (bhajans), and chants.
* Buddhism: Sanskrit sutras, chanted prayers, and devotional songs in different traditions.
Let me know more about your query so I can give you a more relevant and helpful response!