Heat olive oil in a large skillet over medium-high heat.
Season the chicken pieces with salt and black pepper.
Add the chicken to the skillet and cook for 5-6 minutes, stirring occasionally, until golden brown and cooked through. Remove chicken from the skillet and set aside.
In the same skillet, add the minced garlic and cook for 30 seconds until fragrant.
Add the orzo pasta to the skillet and stir to coat with the garlic and oil.
Pour in the chicken broth and bring to a boil.
Reduce heat to medium-low and simmer, uncovered, stirring occasionally, for 8 minutes.
Add the asparagus pieces to the skillet and continue cooking for another 5 minutes, or until the orzo is tender and the asparagus is crisp-tender.
Return the cooked chicken to the skillet and stir to combine.
Remove the skillet from heat and stir in the Parmesan cheese, lemon juice, lemon zest, and chopped parsley.
Adjust seasoning with additional salt and pepper if desired.
Serve warm.