Heat an outdoor grill or a grill pan over medium heat.
Place the asparagus on a rimmed sheet pan and drizzle with the oil and lemon juice.
Add the lemon zest, garlic, salt, and pepper. Use your hands to thoroughly mix until each piece is coated.
Grill for 3-5 minutes, or until grill marks appear but the asparagus is still crunchy to the bite.
Garnish with chopped parsley, if desired.
Notes
To store grilled asparagus, simply transfer it to an airtight container and it will keep in your fridge for up to 4 days. It can be reheated on the grill, stovetop or oven. As a last resort, you can also heat it up in the microwave.