Rinse the asparagus and snap or trim off the tough, woody ends.

Heat the olive oil in a large skillet over medium-high heat until shimmering.

Add the asparagus spears in a single layer. Cook for 5 to 7 minutes, turning occasionally, until they are tender-crisp and lightly blistered.

Reduce the heat to medium-low. Add the minced garlic and toss continuously for 1 minute until fragrant, being careful not to let the garlic burn.

Remove the skillet from the heat. Toss the asparagus with fresh lemon zest, lemon juice, salt, and black pepper.

Transfer to a serving platter and serve immediately.