Let me try again at an alternate answer. If $A_{\mathbb{Z}_p}$ is an abelian scheme and $\ell \neq p$ is a prime, then for any positive integer $n$, the isogeny $[\ell^n]: A \rightarrow A$ is an etale map. [If I am not mistaken, the proof of this does not require formal groups!] Since the special fiber has $\ell^{2n}$ points over the algebraic closure, by Hensel's Lemma all of the $\ell^n$-torsion on $A$ is defined over the maximal unramified extension, and it follows that the reduction map over the maximal unramified extension is an isomorphism on the $\ell^n$-torsion, hence an injection over $\mathbb{Q}_p$.

Let me try again at an alternate answer. If $A_{\mathbb{Z}_p}$ is an abelian scheme of dimension $g$ and $\ell \neq p$ is a prime, then for any positive integer $n$, the isogeny $[\ell^n]: A \rightarrow A$ is an etale map. [If I am not mistaken, the proof of this does not require formal groups!] Since the special fiber has $\ell^{2gn}$ points over the algebraic closure, by Hensel's Lemma all of the $\ell^n$-torsion on $A$ is defined over the maximal unramified extension, and it follows that the reduction map over the maximal unramified extension is an isomorphism on the $\ell^n$-torsion, hence an injection over $\mathbb{Q}_p$.

Felipe's response is (of course) quite correct. Let me just allude to a slightly different answer: this follows immediately from the criterion of Neron-Ogg-Shafarevich: see Section VII.7 of Silverman's AEC for the statement and proof and the elliptic curve case. The statement for general abelian varieties is identical. Part of the proof given there does not generalize immediately, but I believe that the direction you want does.

Let me try again at an alternate answer. If $A_{\mathbb{Z}_p}$ is an abelian scheme and $\ell \neq p$ is a prime, then for any positive integer $n$, the isogeny $[\ell^n]: A \rightarrow A$ is an etale map. [If I am not mistaken, the proof of this does not require formal groups!] Since the special fiber has $\ell^{2n}$ points over the algebraic closure, by Hensel's Lemma all of the $\ell^n$-torsion on $A$ is defined over the maximal unramified extension, and it follows that the reduction map over the maximal unramified extension is an isomorphism on the $\ell^n$-torsion, hence an injection over $\mathbb{Q}_p$.