>>713537123For me, it's Action-Adventure. You can get even more specific with Medieval-Fantasy Action-Adventure.
Zelda is not a genre, and it's been god awful in the genres it inhabits for the last 20 something years, both thematically and mechanically. I loved the Oracle games, but it's clear that either Aonuma wasn't suited for the crossover to 3D, or that his team at Capcom were more talented than Nintendo's inhouse developers. More than likely both.