Add the olive oil to a large skillet and place it over medium heat for 2 minutes. Add the shrimp, garlic, salt, and pepper. Stir to combine.
Let the shrimp cook on the first side for 3 minutes. Stir to make sure the garlic doesn’t burn. Make sure all the shrimp are flipped over on the second side. Cook an additional 1-2 minutes.
Use a slotted spoon to remove the shrimp, leaving the oil and any liquid in the skillet. Set the shrimp aside.
Add the zucchini noodles (zoodles) to the skillet. Cook 3 minutes, stirring often.
Add the cooked shrimp, lemon juice, and zest. Cook two additional minutes, stirring often.