The zero-trust framework is a potential solution to address complex dynamic behaviors, information interactions, complex network topologies, and environmental security threats to groups, such as the safety of the intelligent connected vehicle (ICV) platoon. In addition, it addresses the challenges faced due to increased traffic of intelligent vehicles, communication in critical infrastructure, and malicious attacks between vehicles. Motivated by these observations, we have investigated the zero-trust theory and framework based on the authorization and confirm processes among connected nodes in a group. Furthermore, we have analyzed and summarized the information perception, full information chain communication, and fault-tolerant control mechanism of ICV systems under a zero-trust framework, in addition to the methods of trust value calculation and heterogeneous vehicle platoons. The results indicated that zero-trust theory has a strong potential in group reliability research.