We report $^{153}$Eu and $^{69,71}$Ga NMR under a zero magnetic field on the antiferromagnetic state of EuGa$_{4}$ with $T_{rm{N}}approx 16$ K. We have successfully observed a $^{153}$Eu zero-field NMR signal with well-resolved nuclear quadrupole spl
itting in the antiferromagnetic state of EuGa$_{4}$. $^{69,71}$Ga zero-field NMR spectra were also observed below $T_{rm{N}}$. The internal field and nuclear quadrupole frequency are estimated from a simulation of the spectra by the exact diagonalization of the nuclear spin Hamiltonian matrix. The asymmetrically split zero-field NMR spectra were explained by considering a configuration of the magnetic moments of Eu$^{2+}$ lying in the basal $ab$-plane. The temperature dependence of the internal field, which is proportional to the sublattice magnetization, can be explained by the Brillouin function with $J=S=7/2$
