Combine shrimp, garlic, lemon juice, oil, salt and pepper. Set aside.
Prepare pesto: In a food processor (I love this one!), combine pesto ingredients. Blend until smooth, streaming in water as needed to reach a paste-like consistency.
Heat a large nonstick skillet over medium heat. Once hot, pour in shrimp with marinade. Cook until shrimp is pink, about 2 minutes per side. Add peas and zucchini to skillet and continue to cook until warmed through.
Remove skillet from heat and stir in pesto. Serve immediately.
How to make healthy zucchini noodles with shrimp and pesto