The sixth-generation (6G) wireless communication system is envisioned be cable of providing highly dependable services by integrating with native reliable and trustworthy functionalities. Zero-trust vehicular networks is one of the typical scenarios for 6G dependable services. Under the technical framework of vehicle-and-roadside collaboration, more and more on-board devices and roadside infrastructures will communicate for information exchange. The reliability and security of the vehicle-and-roadside collaboration will directly affect the transportation safety. Considering a zero-trust vehicular environment, to prevent malicious vehicles from uploading false or invalid information, we propose a malicious vehicle identity disclosure approach based on the Shamir secret sharing scheme. Meanwhile, a two-layer consortium blockchain architecture and smart contracts are designed to protect the identity and privacy of benign vehicles as well as the security of their private data. After that, in order to improve the efficiency of vehicle identity disclosure, we present an inspection policy based on zero-sum game theory and a roadside unit incentive mechanism jointly using contract theory and subjective logic model. We verify the performance of the entire zero-trust solution through extensive simulation experiments. On the premise of protecting the vehicle privacy, our solution is demonstrated to significantly improve the reliability and security of 6G vehicular networks.