Preheat your oven to 400°F and line a large sheet pan with parchment paper for easy cleanup.
In a small glass bowl, whisk together the extra virgin olive oil, lemon juice, lemon zest, minced garlic, rosemary, thyme, salt, and pepper.
Trim the woody ends off the asparagus and slice the zucchini into half-moon shapes.
Place the chicken thighs, asparagus, and zucchini onto the prepared sheet pan.
Drizzle the lemon-herb marinade over the chicken and vegetables, then toss thoroughly with tongs to ensure everything is well-coated.
Arrange the ingredients in a single layer on the pan, making sure the chicken pieces are not touching to allow for even browning.
Roast for 20 to 25 minutes, or until the chicken reaches an internal temperature of 165°F and the vegetables are tender with slightly charred edges.
Remove from the oven and let the chicken rest for 5 minutes before serving to ensure it remains juicy and flavorful.