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http://frantic.im/notify-on-completion

create script:

#!/usr/bin/env osascript

on run argv
  tell application "System Events"
    set frontApp to name of first application process whose frontmost is true
    if frontApp is not "iTerm2" then
      set notifTitle to item 1 of argv
      set notifBody to "succeded"
      set errorCode to item 2 of argv
      if errorCode is not "0"
        set notifBody to "failed with error code " & errorCode
      end if
      display notification notifBody with title notifTitle
    end if
  end tell
end run

Then in my .zshrc:

function f_notifyme {
  LAST_EXIT_CODE=$?
  CMD=$(fc -ln -1)
  # No point in waiting for the command to complete
  notifyme "$CMD" "$LAST_EXIT_CODE" &
}

export PS1='$(f_notifyme)'$PS1