Place diced zucchini, red bell pepper, quartered red onion, and cherry tomatoes on a baking sheet. Drizzle with olive oil and season with salt and pepper. Toss to coat.
In a jar, combine olive oil, balsamic vinegar, lemon juice, Dijon mustard, minced garlic, dried basil, salt, and black pepper. Shake well until combined.
In a large bowl, mix the cooked pasta with the grilled vegetables, chopped Italian parsley, and sliced black olives. Drizzle the balsamic vinaigrette over the top and toss gently to combine.