Lemons are usually ready to pick between 6 to 9 months after flowering, but don't worry if you're not sure - it's not like they'll turn into pumpkins or anything (although, that would be kinda cool). The trick is to check the color: if they're still green, they need more time. As they ripen, they'll turn a lovely shade of yellow, and that's when the magic happens!
But here's the thing: lemons don't continue to ripen after they're picked, so you gotta get the timing just right. If you pick them too early, they'll be super sour (not that that's a bad thing, but still). And if you pick them too late, they might be too soft and mushy - yuck!