In a large bowl, whisk together the pudding mix and cold milk until smooth.
Fold in the thawed whipped topping, lemon juice, softened cream cheese, and vanilla extract until well combined.
Layer graham crackers in the bottom of a dish, spread half of the pudding mixture over the top, then repeat with another layer of graham crackers and the remaining pudding mixture.
Chill in the refrigerator for at least 4 hours or until set before serving.
Notes
For added flavor, you can top with fresh fruit or additional lemon zest before serving.