In a small mixing bowl, whisk together the olive oil, lemon juice, lemon zest, minced garlic, rosemary, thyme, salt, and pepper until well combined.
Place the chicken thighs in a large resealable plastic bag or shallow dish and pour the marinade over them, ensuring all surfaces are coated.
Marinate the chicken in the refrigerator for at least 30 minutes, or up to 4 hours for maximum flavor penetration.
Preheat the outdoor grill to medium-high heat, reaching a surface temperature of approximately 400°F (200°C).
Clean the grill grates and lightly brush with oil to prevent the skin from sticking.
Remove the chicken from the marinade and place skin-side down on the grill grates.
Grill skin-side down for 6 to 8 minutes to render the fat and achieve a crispy, charred texture.
Flip the chicken thighs and continue cooking for an additional 10 to 12 minutes until the internal temperature reaches 165°F (74°C) at the thickest part.
Transfer the chicken to a clean platter and let rest for 5 minutes before serving to allow the juices to redistribute.