Brookfield Zoo has put an emphasis on making the zoo accessible and inclusive. Visit the accessibility page for a lot of information about the available resources.
Before your trip, if you'd like to rent a wheelchair ($15) or ECV ($30), those must be reserved in advance by calling (708)688-8347. The zoo is large and sprawling, albeit relatively flat, so if you're debating bringing/renting one of those, I'd encourage you to do so.
The south lot has accessible parking spaces which are much closer to the zoo entrance than those in the north lot (which has a long hilly walk from the lot to the zoo entrance, including the wheelchair/ECV rentals).
The Accessibility guide includes a great deal of information, including instructions for avoiding waiting in lines for guests who find that difficult to a variety of exhibits and shows.
For guests with sensory disabilities, "BZ Care Kits" are available at guest relations by both entrances, and include noise-deafening headphones. The zoo holds "sensory-friendly mornings" on the fourth Sunday of most months with early access to the Play Zoo. The program is free and includes admission to the zoo and free parking, but pre-registration is required. For more information about these and other programs, see the zoo's Zoo For All page.
Service animals are not allowed in certain areas of the zoo, where they might interact with zoo animals. See the service animal maps in the "Accessible Amenities" section of the Accessibility page.
For the dolphin show, a word of warning: the only ADA seating is in the front row, in prime splash area. Although they'll give out tarps, it's hard to get them up in time since you can't see the dolphin as it approaches the area to splash.
The Brookfield Zoo's summer camps have a great reputation for inclusion—in fact, a friend of mine was so impressed that he wrote an article about the experience.
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