Preheat oven to 400°F and line a large rimmed baking sheet with foil. Break off tough ends of asparagus. Place asparagus on baking sheet and drizzle with olive oil.
In a small bowl, rub 1 tsp. salt with lemon zest until crumbly. Sprinkle over asparagus and toss to coat. Arrange asparagus in a single layer and roast until tender, 18 to 25 minutes, shaking baking sheet once or twice during cooking time.
Season asparagus with pepper and sprinkle with lemon juice just before serving.