Ultra-high temperature ceramics (UHTCs) exhibit extremely high melting points (> 2,500 °C) and maintain structural stability under severe conditions. However, their intrinsic brittleness and oxidation vulnerability limit their direct application in aerospace components exposed to extreme environments. To overcome these limitations, UHTC-based composites reinforced with secondary phases such as ZrO2 are required to improve fracture toughness and oxidation resistance. The polymer infiltration and pyrolysis (PIP) process provides a promising fabrication route for such composites, offering densification of porous matrices with liquid precursors while maintaining uniform microstructures. Here, we report a novel zirconia precursor (PZC-12) synthesized through a sol-gel reaction of zirconium propoxide with acrylic acid (1:2 molar ratio). The liquid precursor exhibited a suitable viscosity (~518 cP) and enabled dual crosslinking via hydroxyl condensation combined with radical polymerization of vinyl groups. Consequently, effective thermal curing was accomplished upon heating at 80 °C for 12 h. This strategy minimized premature decomposition and achieved a high ceramic yield of 52.7 %. Pyrolysis at 600 °C in air produced nanosized t-ZrO2, which transformed into m-ZrO2 with grain growth at higher temperatures. Applied in PIP, a ZrB2-ZrO2 composite was successfully fabricated, demonstrating that dual crosslinking is critical for high-yield, reliable PIP-based UHTC composites.