Cook the whole wheat penne according to package directions until al dente; reserve 2 tablespoons of the pasta water before draining.
While the pasta cooks, heat the olive oil in a large skillet over medium-high heat.
Season the chicken breast with sea salt and black pepper, then sauté in the skillet until golden and cooked through, about 6 to 8 minutes.
Add the chopped asparagus and minced garlic to the skillet, cooking for another 3 to 4 minutes until the asparagus is tender-crisp.
In a small bowl, whisk together the Greek yogurt, lemon juice, lemon zest, and the reserved pasta water to create a smooth sauce.
Reduce the skillet heat to low, add the cooked pasta to the chicken and asparagus mixture, and pour the lemon-yogurt sauce over the top.
Toss everything together gently until the pasta is evenly coated and the sauce is creamy.
Garnish with fresh chopped parsley and serve immediately.