Cook the asparagus in simmering water covered for 3 to 5 minutes. Cool under cold running water and drain. Cut asparagus into 1-inch pieces on an angle and add to a bowl.
Add the cooked pasta, shrimp, avocado, tomato and onion. Mix to combine.
To make the dressing: Place all the dressing ingredients in a small bowl and mix well.
Add the dressing to the salad and mix to combine. Season salad with salt and pepper, to your taste and toss again.