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, carrots, and minced garlic to the pot. Cook for 5 minutes until the vegetables begin to soften.
Stir in the rinsed lentils, diced tomatoes, beef broth, smoked paprika, and dried thyme.
Bring the mixture to a boil, then reduce the heat to low. Cover and simmer for 35 minutes, stirring occasionally, until the lentils are tender.
Taste and add salt and black pepper as needed before serving.