In August 2005, San Francisco office opened. In July 2005, Zipcar secured $10 million in funding led by Benchmark Capital. In February 2003, after difficulties in securing additional rounds of funding, the Zipcar board replaced Robin Chase as CEO with Scott Griffith. office opened, with the branch in New York City following in February 2002. In January 2001, Antje was fired after Robin Chase petitioned Zipcar's board for the ability to make hiring and firing decisions without consulting them. In June 2000, the first Zipcars hit the road around Boston, Massachusetts.

Zipcar was co-founded by Antje Danielson and Robin Chase based on existing German and Swiss companies in January 2000. Zipcar common stock traded on NASDAQ under the ticker symbol 'ZIP' until it was acquired by Avis in 2013.

In the third quarter of 2007, Zipcar merged with Seattle-based rival Flexcar to create a nationwide car rental company. Fuel, parking, insurance, and maintenance are included in the price. Zipcar charges a one-time application fee, an annual fee, and a reservation charge. Alternatively, members can use Zipcar's Android or iPhone app to locate a Zipcar by honking its horn as well as to unlock the doors. Zipcar members have automated access to the cars using an access card which unlocks the door the keys are already located inside. Members can reserve vehicles with Zipcar's mobile app, online, or in some places by phone at any time, either immediately or up to a year in advance. In September 2016, Zipcar announced that it had 1 million members across 500 cities in 9 countries, and offers nearly 10,000 vehicles. In the summer of 2016, Kaye Ceille became a managing director of Avis Budget Group International. In early 2014, Kaye Ceille took over as Zipcar's North American President. Scott Griffith, who had run the company for the previous 10 years, resigned the day after the acquisition closed and passed the reins to a new company president, Mark Norman.

On March 14, 2013, Avis Budget Group acquired Zipcar for approximately US$500 million. Zipcar was founded in 2000 by Antje Danielson and Robin Chase. Zipcar provides automobile reservations to its members, billable by the minute, hour or day members may have to pay a monthly or annual membership fee in addition to car reservations charges. Zipcar is an American car-sharing company and a subsidiary of Avis Budget Group.

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