In a medium saucepan, combine cranberries, orange zest, lemon zest, orange juice, maple syrup, and cinnamon stick; bring to a boil. Reduce the heat and simmer (stirring occasionally) until the cranberries have burst and the sauce has thickened, 10 to 15 minutes.
Remove and discard the cinnamon stick. Transfer the cranberry sauce to a serving bowl and serve warm or at room temperature. The sauce will thicken as it cools.
Cranberry sauce can be made up to one day ahead and stored in an airtight container in the refrigerator. Let sauce come to room temperature before serving.