In a medium mixing bowl or mason jar, combine the chia seeds, almond milk, maple syrup, lemon juice, lemon zest, and vanilla extract.

Whisk the mixture vigorously or secure the jar lid and shake for 30 seconds to ensure the seeds are evenly distributed.

Let the mixture rest for 5 minutes at room temperature, then whisk again to break up any clumps that may have formed.

Gently fold in the yogurt until the mixture is smooth and homogenized.

Cover and refrigerate for a minimum of 4 hours, though ideally overnight (8 hours), to allow the chia seeds to fully hydrate.

Stir the pudding once more before serving to adjust consistency; add a splash of milk if it is too thick.