Take the Bridge to I95. Take I95, which is the Cross Bronx Expressway, to the Henry Hudson Parkway. Take the Henry Hudson Parkway southbound to the WhiteStone Bridge. Cross the Whitestone Bridge to the Van Wyck Expressway. Take the Van Wyck southbound to the Interboro Parkway west. Follow the Interboro to Bushwick Avenue, veer to the right. Drive up Bushwick Avenue to Eastern Parkway and make a left. Follow Eastern Parkway to the end at Grand Army Plaza. Drive three quarters away around the Grand Army Plaza circle to the southbound Flatbush Avenue entrance. Look for parking on Flatbush Avenue, the zoo is located on that stretch of Flatbush.

From the Holland Tunnel:

The Holland Tunnel leads into Canal Street, take Canal across Manhattan to the Manhattan Bridge. Cross the Bridge to Flatbush Avenue in Brooklyn. Drive up Flatbush Avenue to the Grand Army Plaza traffic circle. Go halfway around the circle to the southbound Flatbush Avenue entrance. Look for parking on Flatbush avenue. The zoo is on that stretch.

From the Outer Bridge, Goethels Bridge, or Bayonne Bridge:

Take any of these bridges to 440 or the Staten Island Expressway. Cross Staten Island on the expressway to the Verazzano Bridge. Follow the directions from Staten Island.