Coat a deep 12-inch skillet with nonstick cooking spray. Cook the ground beef, breaking up with a spoon, over MEDIUM-HIGH heat until no pink remains. Drain off as much of the grease as you can and return the pan to the stove. Season the meat with salt and pepper and add the chopped zucchini, summer squash, onion, and garlic. Continue to cook; stirring occasionally, until vegetables are tender when pierced with a fork, approximately 5 minutes or more.
Meanwhile, combine marinara sauce, diced tomatoes, and water in a medium mixing bowl. Set aside.
Add uncooked lasagna noodles to pan to cover the meat, breaking each noodle into 4 pieces as you add them to the pan. Pour the tomato mixture evenly over the pasta, making sure that the edges are covered. Bring to a good simmer then reduce heat to MEDIUM, cover pan, and simmer for 25 minutes.
Remove cover and drop spoonfuls of the ricotta over the surface of the lasagna. Sprinkle with shredded mozzarella/provolone and Parmesan. Cover pan and cook for an additional 5 minutes. Sprinkle with basil and serve.