Preheat the oven to 350°F (175°C) and line a 12-cup muffin tin with paper liners.
In a large mixing bowl, whisk together the all-purpose flour, granulated sugar, baking powder, baking soda, and salt until well combined.
In a separate bowl, combine the plain yogurt, vegetable oil, freshly squeezed lemon juice, lemon zest, vanilla extract, and milk. Mix well until smooth.
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 12 muffin cups, filling each about 3/4 full.
Bake in the preheated oven for 18 to 20 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 tin for 5 minutes before transferring to a wire rack to cool completely.