Zoe and her friends performed a short set at the start of the show Splash! before going on to perform in the finale along with Daley and other professional divers.
The group got the chance to perform on the show as Daley, who won a bronze medal at the London Olympics, is a fan of the group.
During the show the team mingled with presenters Gabby Logan and Vernon Kay. Zoe, 28, from Shrewsbury, said: "Tom was a big supporter of us when we were on Britain's Got Talent and we also performed on A League Of Their Own with James Corden recently.
"It was absolutely amazing on the set, everyone was really nice. Vernon was a real laugh and he was playing around in the foam pit which is backstage to practise in."
Zoe defended both the show and Daley from recent criticism.
She said: "Tom had got a bit of a hammering in the press recently for the show, saying he needs to be concentrating more on his practice. But Tom only comes in late on Friday to prepare for the show. I think it's an amazing thing. He is bringing the minority sports, like diving and synchronised swimming, to millions of people.
"There's been so much talk of an Olympic legacy and Tom is helping with that."
She added she wanted The Only Way Is Essex star Joey Essex to win the show, adding: "I've always liked him anyway because he's hilarious.
"But he literally decided to go from the 10 metre platform about an hour before the show started and he spent about 15 minutes getting prepared for it. He was so brave."