Any number other than one takes the plural, so 'there are zero books left' is correct. However, while grammatically correct, we would not normally use zero in that way. We would be more likely to say 'there are no books left' or 'there aren't any books left'

Think of the indefinite article "a / an" and replace the number with that to see if it still makes sense.

"There is a books left."

That doesn't match as you have a singular word "a" trying to match with a plural word "books",

If you said "There is a book left.", that matches singular to singular.

This works because "a / an" equates to "one."

Correct: There are zero<em> </em>books left.

Correct: There is one book left.

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