Cattle receiving zilpaterol hydrochloride () may recycle less N and require a greater supply of RDP. This study evaluated effects of ZH on performance and carcass characteristics of steers fed diets with increasing dietary RDP concentrations supplied as urea. Steers (429 animals; BW = 423 ± 4.5 kg) were sorted into 3 blocks according to BW and assigned to 1 of 6 treatments (6 pens per treatment) in a randomized complete block design. Treatments were a 2 × 3 factorial arrangement of either no ZH or ZH (75 mg ZH per steer daily) supplemented to finishing diets containing 0, 0.5, or 1.0% urea of dietary DM. Pen weights were recorded before treatment initiation; urea was fed for 27 d, and ZH treatments were fed for 24 d with a 3-d withdrawal period. Pen weights were recorded before transporting steers to a commercial abattoir. Continuous response variables were analyzed using the MIXED procedure and categorical data were analyzed using the GLIMMIX procedure of SAS. No ZH × dietary urea interactions ( ≥ 0.14) occurred for all performance and carcass response variables. Feeding ZH for the last 27 d (included a 3-d withdrawal period) of the finishing period increased ( < 0.01) ADG, decreased ( < 0.01) DMI, and increased ( < 0.01) G:F compared with no ZH. In addition, ZH increased HCW ( < 0.01), dressing percentage ( < 0.01), LM area ( < 0.01), and decreased ( = 0.01) yield grade. Increasing dietary urea linearly decreased ( = 0.01) ADG and DMI. A tendency for a linear decrease ( = 0.10) in HCW, and a tendency for a quadratic increase ( = 0.07) in marbling score were observed as urea increased in the diet. Results indicate that cattle supplemented with ZH do not require additional RDP in the diet, and that performance and carcass characteristics were negatively affected when urea was increased in the diet.