Preheat the oven to 350°F (175°C). Line a 12-cup muffin tin with paper liners or grease the cups lightly.
In a medium bowl, whisk together the all-purpose flour, baking powder, baking soda, salt, and ground cinnamon until well combined.
In a large bowl, whisk the granulated sugar, light brown sugar, and vegetable oil until smooth.
Add the eggs one at a time to the sugar and oil mixture, whisking well after each addition.
Stir in the vanilla extract, lemon zest, lemon juice, and Greek yogurt until fully incorporated.
Fold the dry ingredients into the wet ingredients gently until just combined.
Fold in the grated zucchini, ensuring it is evenly distributed throughout the batter.
Divide the batter evenly among the 12 muffin cups, filling each about 3/4 full.
Bake for 22 to 25 minutes, or until a toothpick inserted into the center of a muffin comes out clean.
Remove the muffins from the oven and allow them to cool in the pan for 5 minutes before transferring them to a wire rack to cool completely.