Sort through your blueberries and discard any bad berries, stems or debris. In a medium saucepan, combine the blueberries, sugar, ½ teaspoon lemon zest, 2 tablespoons lemon juice, cinnamon and salt. Bring the mixture to a simmer over medium heat. Reduce the heat to a gentle simmer, then cook, stirring occasionally, for 15 minutes.

Refrigerate the blueberry mixture until it is completely chilled. (Approximately 45 minutes)

Mix together your chilled blueberry mixture and chilled yogurt in a blender or food processor, then freeze the mixture in your ice cream maker according to your manufacturer's instructions. Serve immediately for a soft serve texture, or transfer the frozen yogurt to a freezer-safe container and freeze for several hours for a scoopable consistency.