Simi's plight was described as a "bureaucratic log jam" by MP Andrew Turner at Prime Minister's Questions in September.
The eight-year-old female had been in Belgium awaiting transportation after being seized in Germany on welfare grounds.
A spokeswoman for the zoo said she would have a "lifelong home" there.
The animal was seized two years ago and held in isolation at an animal welfare centre in Belgium.
The zoo carried out negotiations with the Department of Environment, Food and Rural Affairs for a rabies waiver to allow the animal to be imported into the UK.
A spokeswoman for the Animal and Plant Health Agency had said quarantine waivers were "strictly controlled and only issued if certain criteria can be met by the premises of origin and destination".
Watch Simi's journey on Inside Out on 25 January at 19:30 on BBC One in the South or on BBC iPlayer.

It is the third confirmed diagnosis of the H5N8 strain of avian flu in Lincolnshire in about four weeks.
Some of the birds at the undisclosed premises in Lincolnshire have died. The rest are due to be culled.
Defra said an investigation was "under way to determine the source of the infection".
A 1.8-mile (3km) protection zone and a six-mile (10km) surveillance area have been set up around the turkey rearing farm to reduce the risk of the disease spreading.
An outbreak of the virus in a flock of about 6,000 turkeys at Low Farm, in Fulstow, near Louth, was "unlikely to be directly linked to the previous case" at the nearby Austen Fen Farm, Defra had said.
All restrictions were removed around Austen Fen Farm on 18 January but still remain at Low Farm while an inquiry there continues.
This latest case in Boston comes two days after bird flu was found in pheasants that were being bred at a farm in Wyre, Lancashire.
The same strain has been discovered in birds in Settle, North Yorkshire, a swannery in Dorset and flocks in Carmarthenshire, south west Wales.
In December, the government introduced an avian influenza prevention zone, which lasts until 28 February, to help protect poultry and captive birds from avian flu after the strain was found in 14 European countries including Germany and France.
A former circus tiger which waited two years to be imported to the Isle of Wight Zoo has arrived on the island.
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Bird flu has been confirmed in a flock of 19,500 turkeys at a farm in Boston, the Department for Environment, Food and Rural Affairs (Defra) said.