${SOLR_ROOT}/bin/solr healthcheck -help

Usage: solr healthcheck [-c collection] [-z zkHost] [-V]
-c collection
    Collection to run healthcheck against.

-z zkHost
    ZooKeeper connection string; default is localhost:9983

-V
    Enables more verbose output.

${SOLR_ROOT}/bin/solr healthcheck -c collection1 -z "localhost:2181,localhost:2182,localhost:2183/solr"

Here's the output of running this command on my localhost where I have 2 Solr instances and 3 ZooKeeper instances.
The Solr instances are running on the same host, using the same Solr binary distribution.

localhost:2181,localhost:2182,localhost:2183/solr
{
  "collection":"collection1",
  "status":"healthy",
  "numDocs":0,
  "numShards":2,
  "shards":[
    {
      "shard":"shard1",
      "status":"healthy",
      "replicas":[
        {
          "name":"core_node2",
          "url":"http://127.0.1.1:8983/solr/collection1_shard1_replica2/",
          "numDocs":0,
          "status":"active",
          "uptime":"0 days, 0 hours, 30 minutes, 53 seconds",
          "memory":"59.3 MB (%12.1) of 490.7 MB"
        },
        {
          "name":"core_node4",
          "url":"http://127.0.1.1:8984/solr/collection1_shard1_replica1/",
          "numDocs":0,
          "status":"active",
          "uptime":"0 days, 0 hours, 30 minutes, 14 seconds",
          "memory":"42.8 MB (%8.7) of 490.7 MB",
          "leader":true
        }
      ]
    },
    {
      "shard":"shard2",
      "status":"healthy",
      "replicas":[
        {
          "name":"core_node1",
          "url":"http://127.0.1.1:8983/solr/collection1_shard2_replica2/",
          "numDocs":0,
          "status":"active",
          "uptime":"0 days, 0 hours, 30 minutes, 53 seconds",
          "memory":"59.4 MB (%12.1) of 490.7 MB"
        },
        {
          "name":"core_node3",
          "url":"http://127.0.1.1:8984/solr/collection1_shard2_replica1/",
          "numDocs":0,
          "status":"active",
          "uptime":"0 days, 0 hours, 30 minutes, 14 seconds",
          "memory":"42.8 MB (%8.7) of 490.7 MB",
          "leader":true
        }
      ]
    }
  ]
}