Heat a skillet over medium heat on the stove and drizzle with olive oil. Add shrimp in a single layer in the skillet and cook for 1 minute. Then add minced garlic, turn shrimp, and cook another minute. Remove cooked shrimp and set aside.
Add zucchini noodles and the zest from one lemon to the skillet with the juices from the shrimp. Cook on medium heat until the zucchini noodles are soft, but not mushy. Add shrimp back into the pan and squeeze lemon juice to taste. Top with salt and pepper.