Whisk yogurt, sugar, citrus juice, egg, and vanilla extract in a large bowl. In a separate bowl, combine flour, baking powder, baking soda, and salt, whisking to mix well.
Add dry ingredients to the wet, whisking until just combined. Fold in zest. If the batter is too bubbly to work with, give it an extra stir or two before proceeding.
Using a ¼ cup measure, add batter to a lightly greased griddle or skillet preheated to medium-high. Gently nudge the thick batter into rounds.
Cook until you can see steam rising from the pancakes, about 2 to 3 minutes. Flip with a thin, wide spatula and cook until golden brown on the second side, about 2 minutes more.
Serve immediately or keep pancakes warm in an oven heated to 200º F until ready to serve. Top with Greek yogurt, fresh berries, and honey or maple syrup.