I just have the same situation as you and I have just fixed this problem.
It is the reason that you have configured even number of zookeepers which directly result in
this problem,try to change your number of zookeeper node to a odd one.
for example the original status of my zookeeper cluster is consisted of 4 nodes,then just remove one of them which result in the number of node to be 3
well ,now its ok to startup zookeeper cluster
below is the output of successfully connect to zookeeper server
2013-04-22 22:07:05,654 [myid:] - INFO [main:ZooKeeper@438] - Initiating client connection, connectString=localhost:2181 sessionTimeout=30000 watcher=org.apache.zookeeper.ZooKeeperMain$MyWatcher@1321ed6
Welcome to ZooKeeper!
2013-04-22 22:07:05,704 [myid:] - INFO [main-SendThread(localhost:2181):ClientCnxn$SendThread@966] - Opening socket connection to server localhost/127.0.0.1:2181. Will not attempt to authenticate using SASL (unknown error)
JLine support is enabled
2013-04-22 22:07:05,727 [myid:] - INFO [main-SendThread(localhost:2181):ClientCnxn$SendThread@849] - Socket connection established to localhost/127.0.0.1:2181, initiating session
[zk: localhost:2181(CONNECTING) 0] 2013-04-22 22:07:05,846 [myid:] - INFO [main-SendThread(localhost:2181):ClientCnxn$SendThread@1207] - Session establishment complete on server localhost/127.0.0.1:2181, sessionid = 0x13e3211c06e0000, negotiated timeout = 30000