In a large bowl, combine yogurt, vegetable oil, lemon juice, tandoori masala, garlic powder, ginger powder, paprika, cumin, coriander, turmeric, cayenne pepper, salt, and black pepper. Mix well to create a marinade.
Carefully loosen the skin of the chicken over the breast and thighs using your fingers. Rub half of the marinade under the skin and the remaining marinade all over the outside of the chicken.
Place the chicken in a large resealable plastic bag or a covered dish. Refrigerate for at least 4 hours, preferably overnight, to allow the flavors to penetrate.
Preheat your oven to 425°F (220°C).
Remove the chicken from the marinade and place it on a roasting rack in a baking dish. Discard any remaining marinade.
Roast the chicken in the preheated oven for about 1 hour and 15 minutes, or until the internal temperature reaches 165°F (75°C) and the juices run clear.
Let the chicken rest for 10-15 minutes before carving. Garnish with fresh cilantro before serving.