Isotope shifts and hyperfine structures have been measured for radioisotopes of ionic zirconium using on-line laser spectroscopy at the IGISOL facility in Jyväskylä, where the installation of an ion beam cooler/buncher has significantly improved the experimental sensitivity. Measurements have been made on all the neutron-deficient isotopes from 87 Zr to 90 Zr, including the isomers 87m,89m Zr, and the neutron-rich isotopes from 96 Zr to 102 Zr. The change in mean square charge radii between the isotopes and the nuclear moments of the odd isotopes have been extracted. The data show a sudden increase in the mean square charge radius at mass A = 100, consistent with an onset of nuclear deformation which has been observed in the gamma ray spectroscopy of isotope chains in this region of the nuclear chart.