Preheat the oven to 350°F (175°C). Line a 12-cup muffin tin with paper liners or lightly grease the cups.
In a medium bowl, whisk together the all-purpose flour, baking powder, baking soda, salt, and ground cinnamon. Set aside.
In a large bowl, combine the granulated sugar, brown sugar, and vegetable oil. Whisk until smooth.
Add the eggs one at a time to the sugar and oil mixture, beating well after each addition.
Stir in the vanilla extract, lemon zest, and lemon juice until combined.
Add the grated zucchini and Greek yogurt to the wet ingredients and mix until evenly incorporated.
Gradually add the dry ingredients to the wet ingredients, folding gently until just combined. Do not overmix.
Divide the batter evenly among the 12 muffin cups, filling each about 3/4 full.
Bake 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 let them cool in the pan for 5 minutes.
Transfer the muffins to a wire rack to cool completely before serving.