Bring a large pot of salted water to a boil. Cook the pasta according to package directions until al dente, then drain and set aside.
Heat the olive oil in a large skillet over medium heat. Add the minced garlic and cook for about 1 minute until fragrant.
Add the asparagus and zucchini to the skillet. Cook for 4 to 5 minutes, stirring occasionally, until the vegetables begin to soften.
Stir in the peas and cherry tomatoes. Cook for 2 more minutes until the tomatoes start to soften and the peas are heated through.
Add the drained pasta to the skillet along with the lemon juice, Parmesan cheese, and basil. Toss well to combine and season with salt and black pepper to taste.