In a medium bowl, whisk together olive oil, garlic, parsley, rosemary, thyme, lemon zest, lemon juice, Dijon mustard, smoked paprika, salt, and pepper.
Marinate the Chicken
Place the chicken thighs in a zip-top bag or a shallow dish. Pour the marinade over the chicken, ensuring all pieces are evenly coated. Seal the bag or cover the dish, then refrigerate for at least 1 hour (up to 4 hours for deeper flavor).
Preheat the Grill
Heat your grill to medium-high (about 400°F). Lightly oil the grates to prevent sticking.
Grill the Chicken
Remove the chicken from the marinade, letting excess drip off. Grill the thighs skin-side down (if skin-on) for 6–8 minutes until nicely charred. Flip and cook for another 8–10 minutes, or until the internal temperature reaches 165°F.
Rest and Serve
Transfer the chicken to a platter and let it rest for 5 minutes to lock in the juices. Garnish with a sprinkle of fresh herbs if desired. Serve hot and enjoy!