Boil a large, salted pot of water for the pasta. Cook al dente according to package directions.
Meanwhile, prep your other ingredients.
Add the oil and lemon juice + zest to a large skillet over medium-high heat. Add the asparagus and sauté for 2 minutes, stirring often.
Stir in the shrimp and garlic. Cover the skillet, reduce the heat to medium, and let it cook for 3 minutes. If the shrimp are still a little gray, cover the pan again and continue cooking them for another minute or two (be careful not to overcook).
Stir in the parmesan, fresh parsley, and 1 tablespoon of the pasta water. Drain the pasta and add it to the skillet. Season with salt & pepper as needed. Add an extra squeeze of lemon juice as well if desired. Serve immediately.