In a large mixing bowl, whisk together ricotta, milk, eggs, lemon zest, lemon juice, and vanilla extract.
In another bowl, combine flour, sugar, baking powder, baking soda, and salt.
Gradually add the dry ingredients to the wet ingredients, stirring until just combined. Do not overmix.
Heat a griddle or skillet over medium heat and melt a small amount of butter.
Pour ¼ cup of batter onto the griddle for each pancake. Cook until bubbles form on the surface, then flip and cook until golden brown.
Serve warm with your favorite toppings.