Polarized Raman, IR, and time-domain THz spectroscopy of orthorhombic lead zirconate single crystals have yielded a comprehensive picture of temperature-dependent quasiharmonic frequencies of its low-frequency phonon modes. It is argued that these modes primarily involve vibrations of Pb ions and librations of oxygen octahedra. Their relation to phonon modes of the parent cubic phase is proposed. Counts of the observed IR and Raman active modes belonging to distinct irreducible representations agree quite well with group-theory predictions. Analysis of the results yields insight into the phase transition mechanism, involving a soft ferroelectric branch coupled by a trilinear term to another two oxygen octahedra tilt modes.