In the dynamic and ever-changing domain of Unmanned Aerial Vehicles (UAVs), the utmost importance lies in guaranteeing resilient and lucid security measures. This study highlights the necessity of implementing a Zero Trust Architecture (ZTA) to enhance the security of unmanned aerial vehicles (UAVs), hence departing from conventional perimeter defences that may expose vulnerabilities. The Zero Trust Architecture (ZTA) paradigm requires a rigorous and continuous process of authenticating all network entities and communications. The accuracy of our methodology in detecting and identifying unmanned aerial vehicles (UAVs) is 84.59\%. This is achieved by utilizing Radio Frequency (RF) signals within a Deep Learning framework, a unique method. Precise identification is crucial in Zero Trust Architecture (ZTA), as it determines network access. In addition, the use of eXplainable Artificial Intelligence (XAI) tools such as SHapley Additive exPlanations (SHAP) and Local Interpretable Model-agnostic Explanations (LIME) contributes to the improvement of the model's transparency and interpretability. Adherence to Zero Trust Architecture (ZTA) standards guarantees that the classifications of unmanned aerial vehicles (UAVs) are verifiable and comprehensible, enhancing security within the UAV field.