Click a zone number to see the neighborhoods within. There are still a bunch of neighborhood names not mentioned, but its pretty decent.
The best map I've found for a specific borough was here: Queens Boundaries
This is the best map I could find for Manhattan: NYC, Manhattan
Half of Brooklyn, is known only to the veteran New Yorker, and not very well I might add, so there are no good maps specifically for this entire borough. The only maps I could find for Brooklyn only cover the left side of it.