Galvanized DP590 steel plates were successfully welded using friction stir lap welding (FSLW), resulting in high-quality joints. The stir zone (SZ) of all joints consisted mainly of martensite, bainite, and ferrite, with a characteristic “hook-like”interface formed on the advancing side (AS). The distribution of Zn across three cross-sectional planes—near the tool shoulder, at the keyhole center, and in the final welded seam—was analyzed to understand the flowing behavior of Zn during welding. Various forms of Zn were detected along the interface, concentrated primarily along the “hook-like” interface near the keyhole center. Outside the heat-affected zone (HAZ), Zn layers on both the retreating side (RS) and AS remained stable, with Fe-Zn intermetallic compounds forming in the SZ center. A transitional layer of Fe3Zn10 was observed at the joint center in the final welded seam, increasing in thickness with higher welding speeds and accompanied by micro-void formation. It was revealed that the mechanical properties of the joints varied with welding speed. At 25 and 50 mm/min, HAZ softening led to reduced joint strength and failure within the HAZ. At 100 mm/min and 150 mm/min, the presence of Zn and numerous voids at the “hook-like” interface led to joint failure at the bonding interface between the two plates. The maximum shear tensile load observed at 50 mm/min was approximately 14.24 kN.