Grilled Kansas City-Style BBQ Chicken Thighs with Tangy Mustard Sauce

By AislePrompt Editorial · Published 2026-05-17 · Updated 2026-05-17

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 drafted and published.

Juicy grilled chicken thighs marinated in smoky Kansas City BBQ spices paired with a tangy mustard dipping sauce, perfect for outdoor summer cookouts. This American-inspired grilling recipe, ready in about 30 minutes, pairs bone-in chicken thighs, Kansas City BBQ rub, olive oil for a weeknight-friendly dinner that comes together with one pan and minimal cleanup. Each serving lands at about 320 calories and feeds 6, 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: 15 min Serves 6 American cuisine 320 cal/serving

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Ingredients

6 pieces bone-in chicken thighs
2 tbsp Kansas City BBQ rub
2 tbsp olive oil
1 tsp smoked paprika
1 tsp garlic powder
1 tbsp brown sugar
1 tsp salt
1/2 tsp black pepper
1/3 cup yellow mustard
2 tbsp apple cider vinegar
1 tbsp honey
1 tsp Worcestershire sauce
a few dashes hot sauce

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Instructions

Step 1: In a large bowl, combine 2 tbsp olive oil, 2 tbsp Kansas City BBQ rub, 1 tsp smoked paprika, 1 tsp garlic powder, 1 tbsp brown sugar, 1 tsp salt, and 1/2 tsp black pepper. Add 6 bone-in chicken thighs and toss well to coat evenly. Cover and refrigerate for at least 2 hours or overnight for best flavor.
Step 2: Preheat grill to medium-high heat (about 400°F). Place the marinated chicken thighs skin-side down on the grill and cook for 6-7 minutes until the skin is crisp and grill marks appear.
Step 3: Flip the chicken and continue grilling for another 6-8 minutes, or until an internal temperature of 165°F is reached and juices run clear.
Step 4: While chicken grills, whisk together 1/3 cup yellow mustard, 2 tbsp apple cider vinegar, 1 tbsp honey, 1 tsp Worcestershire sauce, and a few dashes of hot sauce in a small bowl until smooth and tangy.
Step 5: Remove chicken from grill and let rest for 5 minutes. Serve warm with the tangy mustard sauce on the side for dipping.