Undeniable signature protocols were introduced at Crypto '89 [CA]. The present article contains new undeniable signature protocols, and these are the first that are zero-knowledge.

Springer
doi.org/10.1007/3-540-46877-3_41
Lecture Notes in Computer Science
Advances in Cryptology - EUROCRYPT

Chaum, D. (1990). Zero-knowledge undeniable signatures (extended abstract). In Lecture Notes in Computer Science (pp. 458–464). Springer. doi:10.1007/3-540-46877-3_41