Bring a large pot of salted water to a boil and cook the penne until al dente. Drain the pasta in a colander and set it aside.
Heat the olive oil in a large skillet over medium heat. Add the zucchini, red bell pepper, and broccoli florets. Cook for 5 to 6 minutes, stirring occasionally, until the vegetables are crisp-tender.
Stir the halved cherry tomatoes into the skillet and cook for 1 minute more, just until they start to soften.
Add the drained pasta to the skillet along with the basil pesto. Toss everything together until the pasta and vegetables are evenly coated.
Season with salt and black pepper to taste. Remove from heat, transfer to a serving dish, and scatter fresh basil leaves over the top.