Preheat the oven to 375°F. Bring a large pot of salted water to a boil and cook the lasagna noodles until al dente. Drain and set aside.
Heat the olive oil in a large skillet over medium heat. Add the minced garlic and cook for 30 seconds until fragrant.
Add the spinach, zucchini, and mushrooms to the skillet. Cook for 5 to 7 minutes, stirring occasionally, until the vegetables soften and release their liquid.
Spread a thin layer of ricotta across the bottom of a 9x9 baking dish. Place three noodles on top.
Spread half the ricotta over the noodles, followed by half the sautéed vegetables and half the pesto. Sprinkle with one third of the mozzarella.
Repeat the layers once more with the remaining ricotta, vegetables, pesto, and another third of the mozzarella.
Finish with the final three noodles, the remaining mozzarella, and all of the Parmesan cheese.
Cover the dish with foil and bake for 20 minutes. Remove the foil and bake for 10 more minutes until the top is lightly browned and bubbly.