Cook penne pasta according to package instructions until al dente. Drain and set aside.
In a large skillet, heat olive oil over medium heat. Add chopped onion and sauté until translucent, about 3-4 minutes.
Add minced garlic and cook for another 1 minute until fragrant.
Add lean ground beef to the skillet and cook until browned and cooked through, breaking it apart with a spoon.
Stir in diced tomatoes with juices, beef broth, and Italian seasoning. Bring to a simmer and cook for 10 minutes to combine flavors.
Reduce heat to low and stir in Greek yogurt and grated Parmesan cheese until the sauce is creamy and well combined. Season with salt and pepper to taste.
Add the cooked penne pasta into the skillet and toss everything together until pasta is evenly coated with the creamy beef sauce.
Serve hot, garnished with fresh basil or parsley for a burst of freshness.