Bring a large pot of salted water to a boil. Cook penne according to package directions until al dente. Reserve ½ cup pasta water, then drain.
In a large skillet over medium-high heat, warm olive oil. Add garlic and sauté 30 seconds until fragrant. Add zucchini and bell pepper; cook, stirring occasionally, until just beginning to soften, about 4 minutes.
Add asparagus and cherry tomatoes to the skillet. Cook 2 minutes more, then stir in peas and season with salt and pepper.
Reduce heat to low. Pour in heavy cream, lemon zest, and lemon juice. Stir to combine and simmer gently for 1 minute.
Add drained pasta and grated Parmesan to the skillet. Toss well, adding splashes of reserved pasta water as needed to create a silky, clingy sauce.
Remove from heat. Toss in fresh basil. Taste and adjust seasoning. Serve immediately in warm bowls with extra Parmesan.