Heat a large skillet over medium heat or preheat a griddle to 350°F.
In a medium bowl, whisk together flour, sugar, baking powder, baking soda, and salt.
In a separate bowl, whisk orange juice, milk, egg, oil, vanilla extract, and orange zest.
Add wet ingredients to dry ingredients and stir just until combined. Batter may be slightly lumpy.
Lightly grease the cooking surface. Pour 1/4 cup batter for each pancake.
Cook until bubbles form on the surface, flip, and cook until golden brown. Repeat with remaining batter.
While pancakes cook, gently warm maple syrup in a small saucepan over low heat. Remove from heat and stir in vanilla extract.
Serve pancakes warm with vanilla maple syrup poured on top.