Usualy when you deploy without any strategy it implies downtime (restarting the server, updating composer packages, running migrations, etc...). Zero downtime means your website stays online during the whole process.
As @bashy says, this is achieved by deploying a second version of your website. When every thing is all good, a switch is made to serve requests from the new codebase rather than the old one, meaning there’s no periods of being offline during the deployment process.