Ultrasound-assisted dipping of ZrO2 ceramics into molten Sn solder was performed to realize the low-temperature joining of ZrO2 ceramics in this study. Scanning electron microscopy with energy dispersive spectrometer, X-ray diffraction and X-ray photoelectron spectroscopy were employed to study the effects of ultrasonic vibration on the microstructure of Sn/ZrO2 interface, and to elucidate the joining mechanism between Sn coating layer and ZrO2 ceramic. Results showed that, after ultrasonically dipping in molten Sn for 1200s, a pure Sn solder layer with a thickness of approximately 8–9µm was coated on the ZrO2 surface. The Sn coating layer exhibited excellent metallurgic bonding with ZrO2 ceramic. A nano-sized ZrSnO4 ternary phase, which was beneficial to the smooth transition of the lattice from Sn solder to ZrO2 ceramic, was formed at the Sn/ZrO2 interface. The formation of ZrSnO4 interlayer was ascribed to the acoustic cavitation induced high-temperature reaction of Sn, O and ZrO2 at the molten Sn/ZrO2 ceramic interface. The tested average shear strength of ZrO2/Sn/ZrO2 joints was approximately 32MPa, and the shearing failure mainly took place within the Sn solder layer.