1. Place vegetable juice, salt, ground red pepper, half of red tomatoes, and garlic in a blender; process until smooth. Pour pureed tomato mixture into a large bowl. Place the remaining red tomatoes, 2/3 cup cucumber, 1/2 cup bell pepper, 1 tablespoon basil, and lemon juice in blender; process until smooth. Add to pureed tomato mixture in bowl. Stir in remaining 1/3 cup cucumber, 1/4 cup bell pepper, and yellow tomatoes. Cover and chill.
2. Heat a large grill pan over medium-high heat. Coat pan with cooking spray. Add shrimp to pan; grill 2 minutes on each side or until done. Remove from heat.
3. Ladle about 1 3/4 cups soup into each of 4 bowls; top each serving with 4 ounces shrimp, 2 tablespoons yogurt, and 1 1/2 teaspoons basil.