You have to use sub forms:
$form = new Zend_Form;
// 'element'
$elements = new Zend_Form_SubForm();
$form->addSubForm($elements, 'element');
And each element is a subform of the 'elements' sub form:
$element = new Zend_Form_SubForm;
$element->addElement('Text', 'name');
$element->addElement('Text', 'text');
$elements->addSubForm($element, '0');
$element = new Zend_Form_SubForm;
$element->addElement('Text', 'name');
$element->addElement('Text', 'text');
$elements->addSubForm($element, '1');
In the controller you can iterate over elements like this:
foreach($form->elements as $element) {
var_dump($element->getValue('name'));
}