Short answer
No, it's best to avoid it. The citric acid and oils can upset his stomach and potentially interfere with how his medication is absorbed. Offer a bland treat instead and keep all citrus out of reach. If he accidentally eats some and you see vomiting or lethargy, contact your veterinarian.
Lemon — Food safety facts
Feed with care · Dogs · full breakdown on the linked food page
The acid and peel oils irritate the mouth and stomach. Never give lemon juice or zest.
The full verdict, portion guidance and serving notes are collected on the Lemon food facts page.