Sheriff's officials took Zimmerman into the jail while members of the media watched, ABC News reported.
The report said officers met Zimmerman off Interstate-4 and he was driven into custody.
Earlier, attorney Mark O'Mara issued a written statement saying the former neighborhood watch volunteer would meet the 2:30 p.m. EDT deadline for reporting to jail, the Orlando (Fla.) Sentinel said.
Zimmerman has been in hiding since he was released in April on a $150,000 bond, which was revoked Friday.
"The defense team hopes that Mr. Zimmerman's voluntary surrender to Sanford police will help demonstrate to the court that he is not a flight risk," O'Mara said.
Zimmerman is charged with second-degree murder in the death of 17-year-old Trayvon Martin during a confrontation in Zimmerman's Sanford neighborhood.
Zimmerman, who was patrolling the streets with a gun as part of his neighborhood watch program, claimed Martin attacked him and he fired in self defense. Sanford police initially declined to file charges based on Florida's self-defense statutes.
The death of the Miami Gardens teen sparked a wave of protests across the United States from critics who said Martin had been minding his own business and was accosted by Zimmerman because of his skin color.
Prosecutors asked for revocation of Zimmerman's bail on the grounds he lied about financial assistance he had received from supporters.