ZnS is an appealing material with wide potential applications in optoelectronics, sensors, and photocatalysis due to its fascinating properties, low cost, and eco-friendly. In this paper, we report the synthesis of ZnS nanowires and nanorods via a simple thermal-evaporation method using different concentrations of PbS as a dopant. The prepared nanostrutures were investigated in detalis using a scanning electron microscopy (SEM), X-ray diffraction (XRD), and high resolution transmission electron microscopy (HRTEM). The results show that the fabricated ZnS nanowire/nanorod has a wurtzite (hcp) structure. In addition, based on the experimental results, the growth mechanism of the prepared nanostructures is reported. X-ray photoelectron spectroscopy (XPS) and energy-dispersive X-ray (EDX) mapping analyses confirmed that the ZnS nanorods were stoichiometric without impurities or defects, whereas PbS quantum dots were formed inside the high-quality nanowires. The formation mechanism of ZnS nanowires is discussed based on the vapor–liquid–solid (VLS) growth model. Results demonstrated that thermal evaporation is a simple and effective techniques for producing high-quality heterostructured ZnS nanowires with potential applications in different fields.