In a large bowl, whisk together the flour, baking powder, sugar, and salt.
In a separate bowl, combine the Greek yogurt, milk, egg, vanilla extract, melted butter, lemon zest, and lemon juice.
Add the wet ingredients to the dry ingredients and stir until just combined.
The batter should be thick but pourable. If it's too thick, add a little more milk to achieve the right consistency.
Heat a non-stick skillet or griddle over medium heat. Lightly grease with butter or cooking spray. Pour about 1/4 cup of batter onto the skillet for each pancake. Cook for 2-3 minutes until bubbles form on the surface.
Flip and cook for another 1-2 minutes until golden brown on both sides.
Stack the pancakes and serve immediately with your favorite toppings, such as fresh berries, maple syrup, or an extra drizzle of lemon juice and yogurt.