Heat olive oil in a pan over medium-high heat; add the sliced garlic and cook until it just begins to turn brown. Add the rosemary and continue cooking until rosemary is crispy and garlic is nicely brown. Let cool and stir in lemon zest.
Prepare a hot grill.
Season lamb chops with salt and pepper. Brush with oil of the marinade and grill to desired doneness; medium-rare is recommended. Arrange on a platter and spoon solids of rosemary mixture on top and serve.