This page explains in detail the interactions between the Warriors (Koei) series and the Zelda series.
Dynasty Warriors VS[]
April 26, 2012
Warriors (Koei)
Zelda
This Nintendo 3DS game only released in Japan features Nintendo-themed costumes for user-created characters, being a Link costume for male characters and a Zero Suit Samus costume for female characters.
The Link costume is specifically based on his Skyward Sword incarnation and also features the Master Sword and Hylian Shield on his back, though they're just part of the costume and can't be used.
Hyrule Warriors[]
August 14, 2014
Zelda
Hyrule Warriors
Hyrule Warriors is a format crossover between Zelda and Warriors. The game feature characters and settings from the Zelda series, with gameplay based on the Warriors series.
Hyrule Warriors: Age of Calamity[]
November 20, 2020
Zelda
Hyrule Warriors
Age of Calamity is a sequel to the aforementioned Hyrule Warriors, and is therefore also a format crossover featuring characters and settings from Zelda (this time specifically focusing on Legend of Zelda: Breath of the Wild) and gameplay from Warriors.
License[]
As a mean of cross-promotion, Nintendo authorized the inclusion of the Link and Samus costumes in Dynasty Warriors VS to promote the console.