Prosecutors have said Zimmerman, 29, racially profiled the 17-year-old Martin as he walked back from a convenience store on a rainy night in February 2012 wearing a dark hooded shirt.
Race and ethnicity have played a prominent role in the case and even clouded jury selection. While the court did not release the racial makeup of the jury, the panel appeared to reporters covering jury selection to be made up of five white women and a sixth who may be Hispanic.
Zimmerman identifies himself as Hispanic.
After Thursday's hearing, Zimmerman's attorney Mark O'Mara was asked what he would say to people concerned there were no black jurors.
"People can look at it and have this response -- that there's no blacks on the jury, or no this or no that, or no men on the jury," he said. "Tell me that we did something wrong in the process and I'll agree with you."
Prosecutors refused to comment for the duration of the trial.
Two of the jurors recently moved to the area -- one from Iowa and one from Chicago -- and two are involved with rescuing animals as their hobbies.
One juror had a prior arrest, but she said it was disposed of and she thought she was treated fairly. Two jurors have guns in their homes. All of their names have been kept confidential and the panel will be sequestered for the trial.
Opening statements are scheduled for Monday.
The central Florida community of Sanford is in Seminole County, which is 78.5 percent white and 16.5 percent black.
Prosecutors and defense attorneys chose the panel of six jurors after almost two weeks of jury selection. In Florida, 12 jurors are required only for criminal trials involving capital cases, when the death penalty is being considered.
If convicted, Zimmerman could face a potential life sentence.
On Feb. 26, 2012, Zimmerman spotted Martin, whom he did not recognize, walking in the gated townhome community in Sanford where Zimmerman lived and the fiancee of Martin's father also resided. There had been a rash of recent break-ins at the Retreat, and Zimmerman was wary of strangers walking through the complex.
The two eventually got into a struggle and Zimmerman shot Martin in the chest with his 9mm handgun. He was charged 44 days after the shooting, only after a special prosecutor was appointed to review the case.
Martin's shooting death and the initial decision not to charge Zimmerman led to public outrage and demonstrations around the nation, with some accusing Sanford police of failing to thoroughly investigate the shooting.
The six jurors were culled from a pool of 40 candidates who made it into a second round of jury questioning. Two men and two women also were picked as alternate jurors.
Before selecting the jurors Thursday, O'Mara explored potential jurors' views on guns, self-defense and justifiable use of force.
Under Florida law, Zimmerman could shoot Martin in self-defense if it were necessary to prevent death or great bodily harm. O'Mara previously decided not to invoke a "stand your ground" hearing in which a judge alone would decide whether to dismiss the case or allow it to proceed to trial.
After the jury was picked, Judge Debra Nelson continued a hearing on whether to allow experts to testify about screams heard on 911 calls made during the struggle. Prosecutors want their expert to testify it was Martin screaming on the calls. An expert for Zimmerman's defense has said there is not enough audio to determine who the screams are coming from.
The judge said she would rule Friday on whether the prosecution's expert can testify.
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