He has been mates with Terry since they played together for the same Sunday team as schoolboys.
Relations between the west London neighbours have been at breaking point since Terry was accused of racially abusing QPR defender Anton Ferdinand last October, a charge of which he was cleared in court this summer.
But Zamora said: "I've known John Terry for years and he's a very good friend of mine.
"We grew up together and of course I'll shake his hand if he's playing on Saturday.
"All this stuff happened a long time before I joined QPR.
"I came in as an outsider to it and I won't be paying attention to any of it.
"John is a very good player and it's going to be a real battle between us. I'm sure it's not going to be an enjoyable game with him coming through the back and smashing the life out of me.
"But that's what he's been like ever since we played together in Barking for Senrab when we were 13 along with Ledley King, Paul Konchesky and Jlloyd Samuel.
"My abiding image of JT then was a box-to-box midfielder with a curtains haircut, smashing in headers from corners.
"We've stayed in touch ever since and for me this game will simply be a case of getting out there, doing my job and getting points on the board for QPR."