Rinse the quinoa under cold water in a fine-mesh strainer. In a small saucepan, combine the quinoa and water. Bring to a boil, then reduce heat to low, cover, and simmer for 15 minutes until the water is fully absorbed.
While the quinoa cooks, prepare the vegetables by trimming the woody ends off the asparagus and chopping them into 1-inch pieces, and dicing the red bell pepper.
Heat the olive oil in a large non-stick skillet over medium heat. Add the asparagus and bell pepper, sautéing for 4 to 5 minutes until they are tender yet still vibrant and crisp.
Move the vegetables to the outer edges of the skillet and place the shrimp in the center. Add the minced garlic and season everything with sea salt and black pepper.
Cook the shrimp for 2 to 3 minutes per side until they turn pink and opaque throughout.
Once the quinoa is finished, fluff it with a fork and add it directly into the skillet with the shrimp and vegetables.
Remove the skillet from the heat. Stir in the fresh lemon juice, lemon zest, and chopped parsley, tossing well to ensure the flavors are evenly distributed.
Portion the mixture into a bowl and serve immediately while the citrus aroma is at its peak.