In a large pot, bring salted water to a boil. Add the orzo and cook according to package instructions, about 8-10 minutes. In the last 2 minutes of cooking, add the asparagus. Drain and set aside.

In a skillet, heat olive oil over medium heat. Add minced garlic and red pepper flakes, sauté for about 1 minute until fragrant.

Add the shrimp to the skillet, season with salt and black pepper, and cook for 2-3 minutes until they turn pink and opaque.

Stir in the lemon zest and juice, then add the cooked orzo and asparagus. Toss everything together to combine.

Garnish with chopped parsley and serve warm.