Cook bacon in a large nonstick skillet over medium heat until crisp. Remove bacon from the pan, reserving 1 teaspoon drippings in pan. Crumble bacon, and set aside. Add shrimp to drippings in the pan; sauté 5 minutes or until done. Using a slotted spoon, transfer shrimp to a large bowl. Add arugula leaves and halved cherry tomatoes to shrimp; toss gently.
Combine yogurt, vinegar, oil, and pepper in a small bowl, stirring well with a whisk. Drizzle vinegar mixture over shrimp mixture; toss gently to combine. Place 2 1/4 cups salad mixture on each of 4 plates; divide crumbled bacon evenly among salads.