There are no poisons that are specifically designed to kill lizards. Lizards are merely temporary visitors that are in search of food. It's more important to prevent lizards from infiltrating a home and removing their food source than it is to dispose of them with poison.
Lizards are not a threat to people if they invade a home, but they can be bothersome. They are drawn into homes in search of insects. One of the best ways to keep them out is to make sure all doors and windows are closed or screened. It also helps to reduce vegetation around the house, as lizards are most common in houses surrounded by large amounts of vegetation.