Preheat the oven to 350°F or 175°C and line or grease a muffin tin.
Whisk flour, baking soda, baking powder, and salt until evenly combined.
Rub lemon zest into the granulated sugar and brown sugar until fragrant.
Whisk in eggs, then add oil, lemon juice, and vanilla until smooth.
Gently mix in dry ingredients, then fold in grated zucchini until just combined.
Fill muffin cups about ¾ full and bake for 18 to 22 minutes until golden and set.
Cool slightly, drizzle with lemon glaze if using, and let set before serving.