The Lake Mary Police Department said Zimmerman was pulled over Tuesday, the Orlando Sentinel reported. The department released a video of the traffic stop.
Zimmerman was given a ticket that carries a fine of $256, police said.
In late July, a few weeks after he was acquitted of second-degree murder in the killing of Trayvon Martin, Zimmerman was pulled over in Forney, Texas, but was given a verbal warning.
The Lake Mary Police Department video shows Zimmerman being pulled over by an officer on a motorcycle. Zimmerman, now wearing a beard, was driving a Honda Ridgeline truck.
On the video, Zimmerman is unable to find the truck's registration during a search of his glove compartment.
He received a ticket only for speeding after the officer used a handheld computer to search for outstanding warrants and found none.
Lake Mary is a small city southwest of Sanford, where Zimmerman shot Martin and was tried.