How do I make ssh fail rather than prompt for a password if the public-key authentication fails?

For OpenSSH there is BatchMode, which in addition to disabling password prompting, should disable querying for passphrase(s) for keys.

BatchMode

If set to “yes”, passphrase/password querying will be disabled.
This option is useful in scripts and other batch jobs where no
user is present to supply the password. The argument must be
“yes” or “no”. The default is “no”.

Sample usage:

ssh -oBatchMode=yes -l <user> <host> <dostuff>

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