Cook the whole wheat penne according to package directions, reserving two tablespoons of the starchy pasta water before draining.
While the pasta boils, heat the extra virgin olive oil in a large skillet over medium heat and add the diced chicken breast.
Season the chicken with sea salt and black pepper, sautéing until golden and cooked through, approximately 6 to 8 minutes.
Add the trimmed asparagus pieces and minced garlic to the skillet, cooking for 3 minutes until the asparagus is bright green and tender-crisp.
In a small mixing bowl, whisk together the Greek yogurt, lemon juice, lemon zest, and the reserved pasta water until the texture is smooth.
Reduce the skillet heat to low, then fold in the cooked pasta and baby spinach, stirring until the leaves just begin to wilt.
Remove the skillet from the heat and stir in the creamy lemon-yogurt sauce and fresh parsley until every ingredient is evenly coated.