Rinse quinoa under cool water for 30 seconds. Add to a medium saucepan with water and salt. Bring to a boil, then cover, reduce heat to low, and simmer 15 minutes until water is absorbed. Remove from heat and let rest covered 5 minutes, then fluff with a fork.

Zest the limes into a small bowl, then squeeze in 3 tbsp juice. Whisk in olive oil and a pinch of salt until the salt dissolves.

Transfer warm quinoa to a large bowl. Pour the dressing over it, add cilantro, and toss with a fork until evenly coated. Serve warm or at room temperature.