In a large mixing bowl, combine yogurt, ginger, paprika, cumin, garlic, lemon juice and salt. Toss chicken in marinade, generously coating all sides of meat. Cover and refrigerate for 1 hour.
Preheat oven to 400°F. Remove chicken from refrigerator and arrange in a single layer in a roasting pan. Nestle lemon halves among chicken pieces. Roast until chicken registers 165°F on an instant-read thermometer, about 30 minutes.
Finish cooking chicken 6 inches under broiler until just beginning to blacken in places, 3 to 5 minutes. Garnish with a generous sprinkle of chopped cilantro. Serve with roasted lemons on the side to squeeze over chicken.