Preheat your grill to a hot, even temperature around 400°F (200°C) and brush the grates with oil to prevent sticking.
Prepare the asparagus by trimming the woody ends. Drizzle with olive oil and sprinkle with salt and pepper to lightly coat.
Place the salmon fillets skin-side down on the grill, pressing gently to ensure contact and prevent curling. Cook for about 4-5 minutes, until the skin is crispy and golden.
While the fish cooks, lay the asparagus in a single layer on the grill, turning occasionally for even charring and tender-crisp texture, about 2-3 minutes per side.
Flip the salmon carefully using tongs and cook for another 3-4 minutes, until the flesh flakes easily with a fork and the skin is crisp.
Meanwhile, squeeze fresh lemon juice over the asparagus and salmon to brighten the flavors, and sprinkle minced garlic over the fish for added aroma.
Remove the salmon and asparagus from the grill once they reach your desired doneness—salmon should be moist inside with crispy skin, and asparagus tender with a smoky char.
Transfer the salmon to a plate, garnish with additional lemon zest if desired, and serve alongside the charred asparagus for a vibrant, textural contrast.
