Not typically because they, apparently, panic under stress and can be unpredictable. So apart from the occasional novelty display of zebras pulling a carriage (England, late 19th century) there hasn't been domestication that would allow them to replace horses.

hi! additional info is always welcome, but do check out these previous posts

Were Zebras ever domesticated? - contains links to two more posts

Serious question: Is there any recorded data of humans riding giraffes? - includes several comments on zebras