Heat the oven to 200°C (400°F). Boil the potatoes in salted water for 15–18 minutes, until very tender, then drain.
Mash the potatoes with the warm milk and Greek yogurt until fluffy. Season with salt and pepper and set aside.
Heat the olive oil in a large skillet over medium-high heat. Brown the ground beef for 6–8 minutes, breaking it up, then drain off any fat.
Add the onion and carrots and cook for 5 minutes until soft, then add the garlic and tomato paste and cook for 1 minute more.
Pour in the beef broth and Worcestershire sauce, add the thyme, and simmer for 10 minutes until the filling thickens. Stir in the peas.
Spoon the filling into the baking dish and spread the mashed potatoes over the top, roughing up the surface with a fork.
Bake for 20–25 minutes, until the topping is golden and the filling is bubbling at the edges. Rest 5 minutes, scatter over parsley, and serve.
Notes
Use 5% fat lean beef. Mash the potatoes hot so the yogurt melts in. Rough up the topping for golden ridges. Keeps 3 days refrigerated, freezes 3 months.
Keyword casserole, cottage pie, fall comfort food, high protein, lean beef