Hi @Shubham Shrivastava ,
It looks like someone posted a Github issue related to this error and commented that the redirect needed to be updated. The issue itself is related to Workday configuration but it looks like they were able to fix this by updating the redirect URL to the one listed in the comments. https://github.com/MicrosoftDocs/azure-docs/issues/36131
Since your issue may be unique, I would recommend a support case here. If you send me an email at AzCommunity@microsoft.com and include your Subscription ID I can open a free support case for you.
What the documentation says on this:
Possible cause
Azure AD wasn’t able to identify the SAML request within the URL parameters in the HTTP request. This can happen if the application is not using HTTP redirect binding when sending the SAML request to Azure AD.
Resolution
The application needs to send the SAML request encoded into the location header using HTTP redirect binding. For more information about how to implement it, read the section HTTP Redirect Binding in the SAML protocol specification document.