Dual active bridge (DAB) converters are widely used in DC microgrids because of their superior bidirectional energy flow regulation capability and characteristics, such as wide voltage gain and zero-voltage switching (ZVS). However, due to the inherent contradiction between the minimum backflow power and the ZVS of the power switches, the existing modulation methods are difficult to optimize and coordinate. Most of the studies increase the complexity of energy flow regulation in the optimization process. To solve the above problems, this paper proposes a collaborative modulation method of dual-side backflow power optimization and ZVS for DAB. The method constructs a dual-side backflow power optimization modulation strategy that is simple to control and uniform in all working conditions by analyzing the mathematical model of backflow power. Meanwhile, based on this optimized modulation strategy, a regulatory factor of phase-shift ratio is introduced to collaborate with the ZVS of the power switches, which reduces the backflow power while ensuring the ZVS of the primary and secondary sides. Finally, a 500W DAB prototype is built, and the experimental results verify the feasibility and effectiveness of the proposed modulation method.