Heat olive oil in a large skillet over medium-high heat.
Add the diced onion and cook for 3-4 minutes until softened.
Add the minced garlic and cook for 30 seconds until fragrant.
Add the ground beef to the skillet and cook, breaking it apart with a spoon, until browned and cooked through, about 6-8 minutes.
Drain any excess fat from the skillet.
Add the diced red bell pepper, zucchini, and sliced mushrooms to the skillet and cook for 5 minutes until the vegetables begin to soften.
Stir in ground cumin, smoked paprika, dried oregano, salt, and black pepper. Mix well to combine.
Pour in the diced tomatoes with their juices and the beef broth. Stir to combine.
Reduce heat to medium-low and simmer uncovered for 10 minutes, allowing the flavors to meld and the sauce to thicken slightly.
While the beef mixture simmers, prepare the white rice according to package instructions if not already cooked.
Serve the ground beef and vegetable mixture over cooked white rice.
Garnish with chopped fresh parsley before serving.