Step 1: Understand dipole moment.
The dipole moment is a measure of the separation of charge in a molecule. Molecules with symmetrical structures where the dipoles cancel out have zero dipole moment.
Step 2: Analyze the options.
- CH$_3$Cl, CH$_2$Cl$_2$, and CHCl$_3$ all have asymmetrical structures, so their dipoles do not cancel out, and they have non-zero dipole moments.
- CCl$_4$ has a symmetrical tetrahedral structure, and the dipoles of the four C-Cl bonds cancel each other out, resulting in a zero dipole moment.
Step 3: Apply to the options.
The compound with zero dipole moment is (B) CCl$_4$.
Final Answer:
\[
\boxed{\text{CCl}_4}
\]