Grilled Citrus-Garlic Chicken Thighs with Rosemary

By AislePrompt Editorial · Published 2026-05-26 · Updated 2026-05-26

How this recipe was made — this recipe was drafted by AislePrompt's AI-assisted pipeline from technique templates and USDA-sourced nutrition data, and published by AislePrompt Editorial — see how AislePrompt recipes are developed and reviewed.

Juicy chicken thighs marinated in bright citrus and garlic, grilled over medium heat with fresh rosemary for a fragrant, flavorful summer meal. This American-inspired grilling recipe, ready in about 35 minutes, pairs bone-in chicken thighs, olive oil, garlic cloves for a weeknight-friendly dinner that comes together with one pan and minimal cleanup. Each serving lands at about 320 calories and feeds 4, so it slots cleanly into a weekly meal plan and pairs well with a quick salad or grain on the side. Tap "Plan a meal with the AI" below to drop this recipe into your week and send the ingredients straight to Instacart. Nutrition values are approximate, calculated from USDA FoodData Central (fdc.nal.usda.gov) — verify against ingredient labels for any health-driven dietary plan.

Prep: 15 min Cook: 20 min Serves 4 American cuisine 320 cal/serving

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Ingredients

6 pieces (about 2 pounds) bone-in chicken thighs
1/4 cup olive oil
4, minced garlic cloves
1/4 cup, freshly squeezed lemon juice
1/4 cup, freshly squeezed orange juice
2 tbsp, chopped fresh rosemary
1 1/2 tsp salt
1 tsp black pepper
1 tbsp honey

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Instructions

Step 1: In a large bowl, whisk together 1/4 cup olive oil, 4 minced garlic cloves, 1/4 cup lemon juice, 1/4 cup orange juice, 2 tbsp chopped fresh rosemary, 1 1/2 tsp salt, 1 tsp black pepper, and 1 tbsp honey until well combined to create the marinade.
Step 2: Add 6 bone-in chicken thighs to the marinade, coating each piece thoroughly. Cover and refrigerate for at least 1 hour, preferably 3 hours, to let the flavors infuse.
Step 3: Preheat your grill to medium heat (about 375°F). Remove the chicken from the marinade, letting excess drip off.
Step 4: Place the chicken thighs skin-side down on the grill and cook for 7-8 minutes until the skin is crisp and golden brown.
Step 5: Flip the chicken and continue grilling for another 7-10 minutes, or until an internal temperature of 165°F is reached and juices run clear.
Step 6: Remove chicken from the grill and let rest for 5 minutes before serving to allow juices to redistribute.