I guess any camera would do the job. There are no special requirements for pranks.
As a tele lense is usually very long it can't be hidden well. So you need multiple cameras. A small one to be hidden (e.g. a GoPro) and another one for long distances like A Nikon 1 J3 with 30-110 Nikkor lense.Well a lot of pranks are filmed from more of a distance and also some require the camera to be hidden so those would be some things to take into consideration