Preheat grill to medium-high heat (around 375-400°F). Place asparagus, olive oil, lemon juice, and kosher salt in a shallow dish.
Toss thoroughly to evenly coat the asparagus with the lemon mixture, ensuring all spears are well-covered.
Place asparagus on the preheated grill. Grill for 2 minutes on each side for thin asparagus, or 3 minutes on each side for thicker asparagus, until tender-crisp. Reserve any leftover lemon mixture.
Remove grilled asparagus from the grill and return it to the shallow dish. Toss with the reserved lemon mixture to coat once more for extra flavor. Garnish with a fresh lemon wedge and black pepper.
Notes
Nutrition information is an estimate, calculated automatically. Values vary with brands, substitutions and portion sizes.