I found the answer here: https://superuser.com/a/517758/10264
This answer is similar in concept to that of Gilles, namely first you combine the split archive into a normal archive using split, and then you unpack it using unzip.
The difference is that instead of using the -FF flag, which did not work for me, you just tell zip to repack the split file without splitting. That is what the -s 0 flag means in the manual.
A split archive can also be converted into a single-file archive using a split size of 0: zip -s 0 test.zip -O single.zip
So, first, combine the split archive to a single archive:
zip -s 0 split-foo.zip --out unsplit-foo.zip
Then, extract the single archive using unzip:
unzip unsplit-foo.zip
This approach only works for .z01, .z02, ..., .zip file structure. If your filenames are .zip.001, .zip.002..., you have rename them first using (e.g.) rename zip.0 z test.zip* with rename.