Hi,
I have this same issue. Mac Zoiper works fine, Android does not. I'm 99% sure this because of ALG on my broadband router, unfortunately I am not able to switch ALG off (Vodafone Broadband UK). This took me a while to figure out because the Mac Zoiper was working, same as the OP. I did some analysis and found that the two Zoiper versions behave differently: the Mac version writes the public IP address into the Via part of the SIP packet and the Android version writes the private IP address in. So the (non) helpful ALG function doesn't change anything on the initial reg packet from the mac version, but changes it for the Android version.
I'm not a SIP expert, but I don't think this is a Zoiper problem, as the built-in SIP client in Android behaves the same way, however it is interesting that the two versions behave differently.
To the OP - if you have an option to disable ALG for SIP on your router, give this a try. If you don't have that option you may be out of luck or need to replace your router.
To Zoiper - it would be a nice-to-have feature to be able to manipulate this behaviour in the settings to hack around this kind of thing.