The heavy-fermion metal YbRh₂Si₂ displays a field-driven quantum phase transition where signatures of a Fermi-surface reconstruction have been identified, often interpreted as a breakdown of the Kondo effect. We argue that instead many properties of the material can be consistently described by assuming a Zeeman-driven Lifshitz transition of narrow heavy-fermion bands. Using a suitable quasiparticle model, we find a smeared jump in the Hall constant and lines of maxima in susceptibility and specific heat, very similar to experimental data. An intermediate non-Fermi-liquid regime emerges due to the small effective Fermi energy near the transition. Further experiments to discriminate the different scenarios are proposed.