This trophy will be easiest if you have played through the game one time already have the ultra nanotech upgrade or at the very least premium nanotech. However, its not too hard to do it with the standard health.
The alien queen herself is not too hard to dodge. Just keep moving to the side and jump as she coils up to attack then do a hyper-strike. You can usually get another hyper strike in before she starts to coil up and attack and then just rinse and repeat.
After you do the first third of her health she calls in a bunch of the little frog guys. Just take them out with normal wrench attacks since the queen sits in the back until you take out the minions.
After you do the second third of her health she calls in 2 of the small snake crab aliens. The easiest way to take these guys out is to use the comet strikes on them since when you hit them they recoil and attack immediately. This involves some jumping and dodging since you can only freeze one at a time with comet strikes but this is by far the hardest part of the fight.
Once you get past those 2 guys just take out the alien queens last third of health and the skill point will unlock.