Preheat the oven to 180°C (350°F) and line a 12-cup muffin tin with paper liners.
In a large bowl, whisk together the flour, sugar, baking powder, baking soda, and salt.
In a separate bowl, beat the eggs, then add the yogurt, vegetable oil, lemon zest, lemon juice, and vanilla extract. Mix until well combined.
Pour the wet ingredients into the dry ingredients and gently fold together with a spatula until just combined. Do not overmix; the batter should be slightly lumpy.
Divide the batter evenly among the muffin cups, filling each about three-quarters full.
Bake in the preheated oven for 18-20 minutes, or until a toothpick inserted into the center of a muffin comes out clean.
Remove the muffins from the oven and let them cool in the tin for 5 minutes, then transfer to a wire rack to cool completely.