Raymond Kolbe has a recent post to his blog about using the DOMPDF library to generate PDFs in a Zend Framework 2 application.

If you're using Zend Framework 2 (beta 4) and need to easily generate PDFs, and you'd like to generate those PDFs from an HTML template, then boy do I have some good news for you! For those of you who have dealt with generating dynamic PDFs, you know how much of a pain in the ass it can be (e.g. dealing with x, y coordinates, word-wrap (or lack of), etc.). There are a few options out there, some paid, some free, but none of them are as nice as DOMPDF (simple API, powerful, and free). The true power behind DOMPDF comes from rendering standard HTML/CSS files instead of having to write ugly and unmanageable code.

He includes a simple example showing how to use the library to create a basic PDF document (containing an HTML string) and how to port that same thing over to work in ZF2 via a custom DOMPDFModule (a ViewModel). You can find out more about this module in it's README on github.