Preheat your oven to 400°F and line a large rimmed baking sheet with parchment paper for easy cleanup.
Halve the baby potatoes and trim the woody ends off the asparagus spears.
In a small bowl, whisk together the extra virgin olive oil, lemon juice, lemon zest, minced garlic, dried rosemary, sea salt, and black pepper.
Place the chicken thighs, potatoes, and asparagus on the prepared baking sheet and pour the lemon-herb mixture over them, tossing well to ensure every piece is coated.
Spread the ingredients into a single layer, ensuring the chicken thighs are not overlapping to allow for even browning.
Roast in the center of the oven for 22 to 25 minutes, or until the chicken reaches an internal temperature of 165°F and the potatoes are fork-tender.
Remove from the oven and let the chicken rest for 5 minutes before serving to keep the meat juicy.