Full list of all 23 ZHEROS achievements worth 1,210 gamerscore. It takes around 25-30 hours to unlock all of the achievements in the base game on Xbox One.
The base game contains 20 achievements worth 1,000 Gamerscore, and there is 1 DLC pack containing 3 achievements worth 210 Gamerscore.
You completed the journey
Mission accomplished ZHEROS
A new star is born
King of the forest
The universe is free
Conqueror of worlds
Just a pile of metal
The enemy knows you are here
Complete the game at Hard
Complete the game as Dorian
Complete a level without being hit
Complete a level without using any medkit
Reach a 100 combo streak
Deflect 100 bullets
Revive your companion 5 times
Find all secret stars
Complete the game in co-op
Complete the game without using the weapon
Buy all upgrades
Break an enemy guard 100 times
(The forgotten land) Stop 20 Sven Enemies from trasforming
(The forgotten land) Complete the game defeating Dr.Vendetta
(The forgotten land) Deflect 50 bullets using the vehicle shield