The results of electron-spin-resonance (ESR) measurements on a single crystal of the spin-Peierls compound CuGe${\mathrm{O}}_{3}$ doped with 4% Zn are reported. We have observed ESR signals in the antiferromagnetic phase below the N\'eel temperature (${T}_{N}=4.2$ K). The frequency vs magnetic-field relation of these ESR signals is well explained by the classical theory of antiferromagnetic resonance with orthorhombic anisotropy. The excitation energies at zero field are 26.4 GHz (0.11 meV) and 40.6 GHz (0.17 meV).