In a small saucepan heat milk over medium heat until tiny bubbles begin to appear around edge of saucepan.
In a medium saucepan whisk together egg yolks, sugar, lemon peel, and salt. Gradually whisk in warmed milk. Cook and stir over medium heat until mixture thickens and coats the back of a metal spoon (do not boil).
Place the saucepan in a sink of ice water. Let stand for 2 to 3 minutes or until cooled, stirring constantly. Pour mixture into a bowl; stir in cream. Cover and chill 4 to 24 hours.
Stir lemon juice into cream mixture. Strain mixture to remove lemon peel.
Freeze lemon mixture in a 2- to 4-quart ice cream freezer according to the manufacturer's directions. If desired, ripen for at least 4 hours.