Install the zfsonlinux yum repository in /etc/yum.repos.d/zfsonlinux.repo:
[zfsonlinux]
name=ZFS on Linux repo DKMS
baseurl=http://download.zfsonlinux.org/epel/6/$basearch/
enabled=1
failovermethod=priority
fastestmirror_enabled=0
gpgcheck=1
sslverify=true
Install the latest kernel and kernel-devel: yum install kernel kernel-devel
Reboot.
Install zfs: yum install zfs
Make sure the module you just built is loaded: modprobe zfs