Justin Kimono, top try scorer at the recently concluded Bamburi Rugby Super Series restored parity for the home side on thirty minutes.
Tichafara Makwanya's thirty fifth-minute penalty narrowed the deficit to 10-8 just before half-time.
Prop forward Denford Mutamangira scored a try on forty eight minutes with Makwanya's conversion putting Zimbabwe 15-10 ahead.
Gardner Nechironga scored a try and Makwanya's conversion put Zimbabwe 22-10 ahead on fifty minutes.
Defending champions Kenya played a series of friendlies against the Mpumalanga Pumas from South Africa.