D8 highway (coming from Teplice city) - very easy: Five minutes after you pass "Prague" sign, you arrive to first bridge over Vltava river. Leave the highway before the bridge following direction ZOO / Troja.
D1 highway (coming from Brno or Jihlava city): You need to transit whole city following direction Teplice. Leave the highway after second bridge over Vltava river following direction ZOO / Troja.
From Hlavni nadrazi arrive with subway, see below.
From Nadrazi Holesovice arrive with tram, see below.
From Masarykovo nadrazi arrive with tram no 14, see below.
Get on line C and go to "Nadrazi Holesovice". The take bus no 112 and to five stops to "Kazanka" station. You arrive just to our gates.
Take no 14 or 17 and get off at "Trojska" station. Then walk five minutes along Trojska stree diretion ZOO.
Take bus no 119 and to to subwas line A, "Dejvicka" station. Change line to C at "Muzeum" and go to "Nadrazi Holesovice"
You can also use Airport Express if availabe, it's much faster and you directly reach "Hlavni nadrazi".
Then arrive with subway.