Rebels fighting Col Gaddafi's forces since February have refused to negotiate unless he steps down.
Meanwhile Mr Zuma's ruling African National Congress has condemned the Nato bombing of Libya.
"We... join the continent and all peace loving people of the world in condemning the continuing aerial bombardments of Libya by Western forces," the ANC said in a statement on the eve of the visit.
Nato imposed a no-fly zone in Libya in March as Col Gaddafi's forces threatened to overrun rebel-held parts of the country.
International pressure on Col Gaddafi continues to grow, with the G8 calling for his departure on Friday and Russia's President Dmitry Medvedev saying on Saturday that he no longer had the right to lead Libya.
The rebels welcomed the G8 statement.
"The entire world has reached a consensus that Col Gaddafi and his regime have not only lost their legitimacy but also their credibility," said rebel leader Mustafa Abdul Jalil in a statement.
Attack helicopters Mr Zuma's Monday visit was part of efforts by the African Union to persuade Libya to adopt political reforms needed to end the crisis, said his spokesman Zizi Kodwa.
There is support for the alliance though on the streets of Tripoli, even as life gets tougher. Petrol shortages are now so severe people report queuing for up to five days.
No-one likes being bombed, said one resident and anti Gaddafi campaigner, but we need Nato to get rid of him.
But his opponents are still too scared to protest openly in Tripoli.
But one source at his office, who refused to be named, told AFP news agency the purpose of the visit was to discuss an exit strategy for Col Gaddafi.
Mr Zuma's visit comes days after the UK and France announced they were sending attack helicopters to join the Nato effort, as the alliance attempts to break the deadlock which has left the rebels in control of eastern Libya and the government running most of the west.The UK has also said it could use "bunker busting" bombs, capable of penetrating reinforced buildings, in a matter of hours in Libya.
"We are not trying to physically target individuals in Gaddafi's inner circle on whom he relies but we are certainly sending them increasingly loud messages," said Defence Secretary Liam Fox.
UN Security Council Resolution 1973 authorised air strikes to protect Libyan civilians from attacks by forces loyal to Col Gaddafi.
The UN vote followed the violent suppression of protests against Col Gaddafi's regime, and military strikes against his forces in support of the rebels, which began on 19 March.
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