To gain a more stable and better routing performance of ZRP in Ad hoc scenarios where mobile nodes move with non-uniform mobility, a velocity based adaptive zone routing protocol (VBAZRP) is proposed which allows different nodes choose different zone radius according to each node's distinct mobility. VBAZRP modifies the protocols of ZRP, and presents a new IARP named VBA-IA which uses asymmetric request and reply mechanism and symmetric mutual update mechanism to maintain node's routing zone proactively and a new BRP named VBA -B which can forward routing query efficiently outside zones by using relationship of nodes. Simulation results show that VBAZRP can adapt well to the more complicated and practical ad hoc applications.