You need to download the file and then use read_csv.
See Download a file
This code works for me
url <- "https://divvy-tripdata.s3.amazonaws.com/Divvy_Trips_2020_Q1.zip"
dest <- "~/RJunk/trip.zip"
download.file(url, dest)
require(readr)
mydat <- read_csv("~/RJunk/trip.zip")