Zimmerman was the last player in the major leagues scheduled for an arbitration hearing. His was to take place Friday in Phoenix, which is why he missed Washington's first full-squad workout of spring training Thursday.
He was the last Nationals player without a contract in place for the coming season.
"He's the face of this franchise, so it's totally different when he's here with us," manager Manny Acta said. "We can't wait to get him here."
Acta expects Zimmerman to be at the team's camp Saturday.
Zimmerman and the Nationals met right at the midpoint of their arbitration figures: Zimmerman had submitted $3.9 million, while the Nationals had countered with $2.75 million.
The agreement includes performance bonuses of $75,000 for 500 plate appearances, and $50,000 each for 550 and 600 plate appearances.
Zimmerman made $465,000 last season, when he hit .283 with 14 homers and 51 RBIs while limited to 428 at-bats because of a left shoulder injury.
Overall, players went 2-1 against clubs in cases that went before an arbitrator. Florida second baseman Dan Uggla ($5.35 million) and Washington right-hander Shawn Hill ($775,000) received their figures, while Tampa Bay catcher Dioner Navarro ($2.1 million) was awarded the club's proposal.
Players finished with a winning record for the first time since 1996, when they were 7-3. The three hearings matched the record low, set when owners had a 2-1 advantage in 2005.
Owners hold a 280-207 margin in cases that have gone to hearings since arbitration began in 1974.
