ZeroMQ takes care of the queueing. Though I didn't delve into it in depth in this example, you can create quite sophisticated broker-less distributed systems pretty easily with ZeroMQ.
The best you can hope is to use the Titanic Service Protocol and just throw data into some sort of disk store. I've looked into doing this, but I settled on using RabbitMQ instead for persistence. Unless you're dealing with more than 10k messages a second, it's just as easy as ZeroMQ.
After a few months of experimenting, I've come to the conclusion that some combination of ZeroMQ and RabbitMQ is likely the easiest solution currently for a combination of low-overhead distributed messaging and broker-assisted persistent messaging.