Whisk the dry ingredients together, including the lemon zest, in a large bowl.
In a separate bowl, whisk the wet ingredients together.
Pour the wet ingredients over the dry ingredients and gently but quickly stir it all together. A few lumps are okay and definitely don't overmix.
Scoop batter into a greased muffin tin or into liners in a muffin pan. Bake at 400 degrees F for 18 to 20 minutes until muffins are golden.
Cool for 5 minutes and then turn out onto a wire rack to finish cooling.
Notes
I store these with no liners in the freezer in a Ziploc bag. They reheat well in the microwave or just when left out to thaw.Other variations of yogurt muffins you can make:
For orange muffins, simply swap the lemon juice and zest for orange juice
For vanilla muffins, swap milk for the lemon juice, eliminate the lemon extract, and sub vanilla Greek yogurt for the plain
For strawberry muffins, make the same swaps as for the vanilla muffins except sup strawberry Greek yogurt for the plain
For blueberry muffins, follow the substitutions for vanilla muffins but swap blueberry Greek yogurt for the plain
For peach muffins, again follow the same substitutions as used for strawberry and blueberry muffins but swap the yogurt for peach yogurt
You can also add 3/4 cup of chocolate chips to the vanilla or strawberry muffins, fresh blueberries to the vanilla or blueberry muffins, or diced peaches to the vanilla or peach muffins.