ZF2-187: Notice: Undefined property: PDOStatement::$error
In Zend/Db/Adapter/Driver/Pdo/Statement.php on line 218 when throwing an InvalidQueryException it tries to access $this->resource->error for the exception message.
PDO and PDOStatement have "errorCode"  and "errorInfo"  methods for getting information about the errors.
I am/was testing with beta3 and Rob Allen's ZF2 tutorial.
Pull request is on it's way.
php -v PHP 5.3.10