Place the chicken thighs in a large zip-top bag or shallow container.
Add the olive oil, crushed garlic, black pepper, salt, lemon zest, lemon juice, thyme, and rosemary.
Seal the bag and massage the marinade until every piece of chicken is evenly coated.
Refrigerate for at least 20 minutes or up to overnight for maximum flavor.
Preheat your grill to medium heat and lightly oil the grates.
Remove the chicken from the marinade and discard any remaining marinade.
Grill the Lemon Herb Grilled Chicken for 4–6 minutes per side, depending on thickness, until the internal temperature reaches 165°F (74°C).
Remove from the grill and let the chicken rest for 5 minutes before serving.