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Preheat oven to 400°F. Trim any excess fat and membrane from the leg of lamb and discard. Brush oil on the lamb and sprinkle with salt and pepper. Place lamb on a rack in a shallow roasting pan. Insert a meat thermometer into thickest portion of lamb, making sure the thermometer doesn't touch the bone. Roast, uncovered, for 30 minutes.
Reduce oven temperature to 325°F. Combine undrained tomatoes, onions, carrots, celery, rosemary and garlic in a large bowl. Spoon into the roasting pan around the meat.
Roast 45 to 55 minutes more or until meat thermometer registers 135°F for medium-rare (or 60 to 70 minutes more or until meat thermometer registers 150°F for medium), stirring vegetables once. Cover meat with foil and let stand 15 minutes. The temperature of the meat after standing should be 145°F for medium-rare or 160°F for medium. Stir vegetables and serve with lamb. If desired, garnish with rosemary sprigs.