Trailing 2-0 in the 88th minute, Dallas began a comeback when Jacobson received a pass from Ramon Nunez and put it behind Sporting KC goalkeeper Jimmy Nielsen.
Zimmerman then provided the dramatic equalizer in the 90th minute, converting a corner kick by David Ferreira.
Despite gaining a point for the tie, FCD (8-3-5) fell out of first place in the Western Conference after Real Salt Lake defeated the Seattle Sounders Saturday.
Kei Kamara scored and Dallas' Je-Vaughn Watson scored an own-goal for SKC (6-5-5), which hold fifth place in the East.
Swim Week Miami Beach 2014 [PHOTOS]