Combine quinoa, fennel, and shallots in a large bowl; set aside. Combine lemon rind and next 7 ingredients (lemon rind through pepper) in a small bowl; stir well. Pour over quinoa mixture; toss well.
Spoon 1 cup of salad onto each of 4 plates. Arrange 1/2 cup orange sections around each salad; sprinkle each salad with 1 tablespoon walnuts.