Place the asparagus pieces into a high-sided skillet. Add about ¼-inch of water to the pan. Place over medium heat and bring to a simmer. Cover and simmer until the asparagus is bright green and crisp-tender, 2-4 minutes. Drain the asparagus in a colander and rinse with cold water. Transfer to a large bowl.
Add the endive and fennel to the bowl with the asparagus. Toss to combine. Add the oil, lemon juice, and honey. Toss to coat. Season to taste with salt and pepper.