Prepare the marinade by combining olive oil, garlic, rosemary, lemon zest, salt, and pepper in a bowl.
Place the lamb chops in a resealable plastic bag or shallow dish and pour the marinade over them.
Seal the bag or cover the dish, then refrigerate for at least 1 hour, or up to 4 hours for deeper flavor.
Preheat your grill to medium-high heat.
Remove the lamb chops from the marinade and let any excess drip off before placing them on the grill.
Grill the lamb chops for about 4-5 minutes on each side for medium-rare, adjusting the time based on desired doneness.
Remove the lamb chops from the grill and let them rest for 5 minutes before serving.
Serve the grilled lamb chops with your choice of sides and enjoy!