Ryan Burl, Tadiwanashe Marumani and Wellington Masakadza also return to the 15-man squad, while Richard Ngarava has been named ODI captain for the first time in his career.
He replaces Sean Williams, who is currently undergoing rehabilitation and is unavailable for selection.
Kaia has been in outstanding form this year, scoring heavily in domestic cricket and registering a century for Zimbabwe A against Bangladesh earlier this month.
Zimbabwe have also retained their strong pace attack featuring Blessing Muzarabani, Brad Evans, Newman Nyamhuri and Ernest Masuku alongside captain Ngarava. Veteran all-rounder Sikandar Raza is also included in the squad.
The three-match ODI series will be played at Harare Sports Club on July 6, 9 and 11.
Zimbabwe ODI squad: Richard Ngarava (capt), Brian Bennett, Ryan Burl, Ben Curran, Craig Ervine, Brad Evans, Innocent Kaia, Clive Madande (wk), Wessly Madhevere, Tadiwanashe Marumani (wk), Wellington Masakadza, Ernest Masuku, Blessing Muzarabani, Newman Nyamhuri and Sikandar Raza.
