Lincoln Township covers an area of 35.3 square miles (91 km2) and contains the incorporated town of Zearing. According to the USGS, it contains one cemetery: the Zearing Cemetery.
U.S. Route 65 runs north-south through the township and County Road E18 runs east-west. County Road E18 was formerly Iowa Hwy 221 until it was decommissoned on July 1, 2003, and redesignated as a county road.
Story County maintains Dakins Lake, a 41-acre (170,000 m2) park located just north of Zearing in Lincoln Township. It has a 5-acre (20,000 m2) lake stocked with largemouth bass, bluegill, channel catfish, and crappie. It also has a small restored prairie and wooded areas.