With the development of precise positioning technology, a growing number of location-based services (LBSs) facilitate people's life. Most LBSs require proof of location (PoL) to prove that the user satisfies the service requirement, which exposes the user's privacy. In this paper, we propose a zero-knowledge proof of location (zk-PoL) protocol to better protect the user's privacy. With the zk-PoL protocol, the user can choose necessary information to expose to the server, so that hierarchical privacy protection can be achieved. The evaluation shows that the zk-PoL has excellent security to resist main attacks, moreover the computational efficiency is independent of input parameters and the zk-PoL is appropriate to delay-tolerant LBSs.