Heat oil in a large saucepan over medium heat. Add onion and garlic; cook and stir until softened, about 5 minutes. Transfer to a plate.

Add beef shank to the saucepan and increase the heat to medium-high; cook until browned, about 5 minutes per side. Return onion and garlic to the pan, and sprinkle thyme, oregano, rosemary, and marjoram over beef. Add tomatoes and tomato paste.

Pour water into the tomato paste can; swirl to remove any extra tomato paste, and add to the saucepan. Stir in lemon zest, salt, and pepper; bring to a boil. Reduce the heat to low, cover, and simmer until beef is very tender, 1 1/2 to 2 hours.