1In food processor, place all pesto ingredients except yogurt. Cover; process on medium speed about 1 minute, scraping sides, until finely chopped. Stir in yogurt. Set aside.
2Cook and drain pasta as directed on package. Return to saucepan; cover to keep warm.
3Meanwhile, in 10-inch skillet, heat oil over medium heat. Add onion; cook and stir 2 minutes. Stir in chicken, tomatoes, salt and pesto; cook and stir about 5 minutes or until mixture is hot.
4Stir zucchini and chicken mixture into pasta until evenly coated. Serve hot.