Add the garlic and jalapeno and cook over moderately high heat until fragrant, about 1 minute.
Reduce the heat to moderate.
Add the shrimp, season with salt and pepper and cook, turning a few times, until partially cooked, about 3 minutes.
Add the orange juice, lemon zest and lemon juice and cook over moderately high heat, stirring, until the sauce thickens and coats the shrimp, about 1 minute.
Remove from the heat, season with salt and pepper and serve.