Preheat the oven to 400°F (200°C).
In a large bowl, combine the sliced red bell pepper, zucchini, yellow squash, red onion, and cherry tomatoes. Drizzle with olive oil and sprinkle with dried oregano, salt, and pepper. Toss to coat the vegetables evenly.
Spread the vegetables on a baking sheet and roast in the preheated oven for 25-30 minutes, or until they are tender and slightly charred.
While the vegetables are roasting, cook the rice according to package instructions. Once cooked, fluff the rice with a fork.
In a large serving bowl, combine the cooked rice, roasted vegetables, orange juice and zest, lemon juice and zest, and chopped parsley. Toss to combine all the ingredients.
Season with additional salt and pepper, if desired.
Serve the roasted vegetable and citrus rice salad warm or chilled.