As an innovative and economical material, hydroxyapatite does little harm to the environment. In this study, a magnesium hydroxyapatite (Mg-HAP) adsorbent was prepared by doping magnesium. Magnesium doping can increase the hydroxyl groups on the surface of Mg-HAP to form more adsorption sites and improve the removal effect of the heavy metal Zn(II) in water. This study was implemented to survey the effect of different sorption elements, including the liquor initial pH, initial concentration, dose of adsorbents, and other factors, on the adsorption effect. The outcomes show that the sorption effect was best at the time that the liquor was weakly acidic (pH = 6); At a pH of 6, the temperature of 25 °C when the optimal dosage of adsorbent is 0.25 g, the maximum adsorption amount is 62.11 mg/g. Through data fitting, the adsorption process can be accurately described as a pseudo-second-order dynamics model and the Langmuir isotherm equation. According to the thermodynamic analysis, the sorption of zinc ions by Mg-HAP belongs to the process of spontaneous endothermic and entropy increase, and the increase of temperature was conducive to adsorption. Material characterization and analysis indicate that surface complexation and dissolution-precipitation was the main mechanism for adsorption of Zn(II).