Heat the olive oil in a large pot over medium heat. Add the ground beef and cook until browned, breaking it up with a spoon as it cooks.
Add the diced onion and minced garlic to the pot. Cook for 3 to 4 minutes until the onion softens.
Stir in the sliced carrots and cook for another 2 minutes.
Add the rinsed lentils, diced tomatoes, beef broth, dried thyme, and paprika. Stir to combine.
Season with salt and black pepper. Bring the mixture to a boil, then reduce the heat to low, cover, and simmer for 30 minutes until the lentils are tender.
Taste and adjust seasoning if needed before serving.