In a skillet, cook the beef, zucchini and onion over medium heat until meat is no longer pink. Add garlic; cook 1 minute longer. Drain.
Place tomatoes in a food processor or blender; cover and process until smooth. Stir into beef mixture. Add the water, tomato paste, parsley and seasonings. Bring to a boil. Reduce heat; simmer, uncovered, for 30 minutes, stirring occasionally.
Spread 1 cup meat sauce in a greased 13x9-in. baking dish. Arrange three noodles over sauce. Spread with a third of the meat sauce; top with half of the ricotta cheese. Sprinkle with a third of the mozzarella and Parmesan cheeses. Repeat. Top with remaining noodles, meat sauce and cheeses.
Cover and bake at 350° for 45 minutes. Uncover; bake 15 minutes longer or until bubbly. Let stand for 15 minutes before cutting.