In a large bowl, whisk together the heavy whipping cream, milk, sugar, lemon juice, lemon zest, vanilla extract, and a pinch of salt until the sugar is mostly dissolved.

Cover the bowl with plastic wrap and refrigerate for at least 2 hours, or until thoroughly chilled.

Pour the chilled mixture into an ice cream maker and churn according to the manufacturer's instructions, usually about 20 to 25 minutes.

Transfer the churned ice cream to an airtight container and freeze until firm, about 4 hours.

Remove the ice cream from the freezer about 5 minutes before serving to soften slightly for easier scooping.