TBH, you dont want to model anything out in ZBrush alone and then bring it into Maya. Really the stadard workflow is to create your base mesh in maya and export it into ZBrush (using OBJ format) and then do your detailing in Z and then once your happy you can do one of 2 things create a normal map of the hi res geometry and apply then too your low res mesh in Maya, making it 100% easier to manage animation back in Maya. Export the Hi res Mesh out of Z and work with it in Maya, but tbh you are gonna open a bit of a can of worms working with a hi res mesh and animating it. too many verts to paint weights onto for each joint.

There is also the ability to do a replace on the low res geo with the hi res one once the animation is complete, but i cant remeber off hand where the option in the menus are. I would stick to using the normal map way tbh.

Others may have a different opinion/option to go for...