The statement of the Yoneda lemma has a straightforward generalization from categories to (∞,1)-categories.
Following these answers on MathOverflow, the full -statement obtained this way holds.
One aspect of the generalization of the standard Yoneda lemma, the fact that the Yoneda embedding is a full and faithful functor, is known in the published literature to generalize.
-Yoneda embedding
Let be an (∞,1)-category and be the corresponding (∞,1)-category of (∞,1)-presheaves. Then the canonical (∞,1)-functor