In a large pot fitted with a steamer basket, bring about 1 inch water to a boil. Add the asparagus, cover, and steam until tender-crisp, about 4 minutes. Remove from the pot.
In a large bowl, combine the asparagus, garlic, chopped parsley, hazelnuts, 1/4 teaspoon lemon zest, lemon juice, olive oil and salt. Toss well to mix and coat.
Arrange the asparagus neatly on a serving platter and garnish with parsley sprigs and lemon zest. Serve immediately.