In a medium bowl, whisk together flour, baking powder, baking soda, salt, and lemon zest. Set aside.
In a liquid measuring cup, stir together the lemon juice and milk. Set aside while you prepare the rest of the wet ingredients.
In a large bowl, combine Greek yogurt, eggs, honey, and vanilla. Whisk until well combined.
Whisk in the milk-lemon juice mixture until smooth.
Pour the dry ingredients into the wet and, using a spoon, stir until barely combined. The batter will be very thick. Be very careful not to overmix. Let stand for 5 minutes.
Heat nonstick pan or griddle over medium heat; spray with cooking spray.
Cook on the first side for 2-3 minutes, until bubbles begin to form. Flip and cook on the second side, 2-3 minutes more.