The previous Soviet self-propelled anti-aircraft gun (SPAAG), the ZSU-57-2, was armed with two 57 mm autocannons; it was aimed optically using a basic tracking and lead calculating system.

The ZSU-57-2 was not particularly successful despite its very powerful autocannons; given their large caliber, it could only carry 300 rounds, was inaccurate as it lacked radar and could not fire while on the move.

The ZPU series armed with 14.5 mm heavy machine guns carried on a towed mount for stationary, point air defence had a much higher rate of fire.

The development of the ZSU-23-4 "Shilka" began in 1957 along with ZSU-37-2 "Yenisei"[9] and the vehicle was brought into service in 1965, replacing all ZSU-57-2s in air defense units toward the beginning of the 1970s.

The ZSU-23-4 was intended for AA defense of military facilities, troops, and mechanized columns on the march; originally, the more powerful guns of "Yenisei" were judged to be effective at covering the inner dead-zone of Soviet surface-to-air missile systems despite the increased weight of the vehicle, but commonality prevailed.

The ZSU-23-4 combined a proven radar system, the non-amphibious chassis based on GM-575 tracked vehicle, and four 23 mm autocannons.

The ZSU-23-4 outclassed all NATO anti-aircraft guns at the time, and it is still regarded as posing a major threat for low-flying fixed-wing aircraft and helicopters.

Israeli pilots attempting to fly low in order to avoid SA-6 missiles were often shot down by ZSU-23-4s as in Operation Doogman 5.

During the Soviet–Afghan War ZSU-23-4 units were used widely and to great effect against mujahideen positions in the mountains, the ZSU-23-4's guns being able to elevate much higher than the weapons on BMPs, BTRs, T-55s, or T-62s.

[10] They were also used to suppress defensive positions around the presidential palace during the initial coup in Kabul at the start of the Soviet-Afghan war.

The appearance of the "Shilka" caused significant changes in NATO tactics in aircraft use at low altitude over the battlefield.

With its high rate of accurate fire, the ZSU-23-4 can even neutralize tanks by destroying their gun sights, radio antennas, or other vulnerable parts.

Based on the GM-575 tracked vehicle chassis, which used components from the PT-76 light amphibious tank, the ZSU-23-4 mounts an armored turret holding four liquid-cooled 23 mm (0.9") 2A7 autocannons linked to an RPK-2 "Tobol" radar (NATO designator: "Gun Dish").

As a result, off-road acceleration capabilities are sub-par, and the vehicle lags behind MBTs and IFVs on up-hill terrain.

The short range of its 23 mm autocannons and relatively low explosive effect of its small-calibre projectiles mean it is less able to engage threats such as jet attack aircraft and cruise missiles than modern systems like the 2K22 Tunguska armed with more powerful 30 mm autocannons and integrated missile armaments.

A special 23 mm round with composite projectiles was developed for a modern variant of SPAAG (ZSU-23-4M4) to be used against cruise missiles.

The problem resulted from a deficient cooling system and made the early ZSU-23-4s dangerous even to friendly troops standing nearby if this happened.

(Perrett 1987:100)[12] It was not recommended to perform continuous fire (bursts longer than 15 seconds without pause) on earlier models until the problem with autocannon reliability and overheating during intense fire was solved on ZSU-23-4M (welded tubes of coolant outlet were replaced with flexible pipes).

Firing positions of ZSU-23-4 SPAAGs are typically placed near the forward edge of the battle area (FEBA) but behind the main forces, usually 600–1000 m behind objectives when on the defensive or 400–600 m behind the leading tanks on the offensive.

The PPRU-1 ("Ovod-M-SV") vehicle is based on MT-LBu armoured tracked chassis and it was intended for control of motor rifle or tank regimental anti-aircraft unit equipped with ZSU-23-4 SPAAGs and 9K31 "Strela-1M" mobile surface-to-air missile systems.

Due to its effectiveness against ground targets, ZSU-23-4s have been used in urban environments (e.g., Afghanistan, Abkhazia, Chechnya, Syria and Lebanon).

This is primarily because the guns can elevate much higher than a tank or APC cannon, enabling armored units equipped with ZSU-23-4s to return fire against ambushes from above.