At age 15, Zuluaga began playing as a central defender for Medellín side 7 de Agosto. Next, he joined Unión Indulana where he would be recruited by Millonarios. He made his professional debut with Millonarios in 1948, and won five Colombian league titles with the club. He finished his career playing for Santa Fe and Atlético Nacional.
After retiring as a player, Zuluaga became a football manager. He had a spell in charge of the Colombia national team between 1968 and 1969 during its failed bid to qualify for the 1970 FIFA World Cup in Mexico.