Comment 4 for bug 1310792

My workaround for now is to allow zfs module access to all users from the zfs group, instead of only root.
This way the zfs command can be run by by users from that group.

/etc/udev/rules.d/91-zfs-permissions.rules
#Use this to add a group and more permissive permissions for zfs
#so that you don't always need run it as root. beware, users not root
#can do nearly EVERYTHING, including, but not limited to destroying
#volumes and deleting datasets. they CANNOT mount datasets or create new
#volumes, export datasets via NFS, or other things that require root
#permissions outside of ZFS.
ACTION=="add", KERNEL=="zfs", MODE="0660", GROUP="zfs"

Note that you need to add the zfs group and add the users to it. This is also a bit risky, because every user of that group can now modify zfs stuff. (But on your own homeserver this is not really a problem)