Place the asparagus into a steamer insert and set into a pot over one inch of water; bring the water to a boil. Place a cover on the pot and steam the asparagus for 5 minutes. Transfer the asparagus to the bowl of a food processor and puree until smooth.
Combine the asparagus puree with the yogurt, lime juice, cilantro, green onions, jalapeno pepper, garlic, tomato, Worcestershire sauce, and hot pepper sauce in a large bowl; gently stir to combine. Season with salt and pepper. Chill in refrigerator until completely cooled.