Magnetic moments arranged at the corners of a honeycomb lattice are predicted to form a novel state of matter, the Kitaev quantum spin liquid, under the influence of frustration effects between bond-dependent Ising interactions. Some layered honeycomb iridates and related materials, such as Na 2 IrO 3 and α-RuCl 3 , are proximate to the Kitaev quantum spin liquid, but bosonic spin-wave excitations associated with undesirable antiferromagnetic long-range order mask the inherent properties of the Kitaev Hamiltonian. Here, we use 63 Cu nuclear quadrupole resonance to uncover the low-energy spin excitations in the nearly ideal honeycomb lattice of effective spin S ¼ 1=2 at the Ir 4þ sites in Cu 2 IrO 3 . We demonstrate that, unlike Na 2 IrO 3 , Ir spin fluctuations exhibit no evidence for critical slowing-down toward magnetic long-range order in zero external magnetic field. Moreover, the low-energy spin excitation spectrum is dominated by a mode that has a large excitation gap comparable to the Ising interactions, a signature expected for Majorana fermions of the Kitaev quantum spin liquid.