1. Pat the boneless, skinless chicken thighs dry with paper towels. Place the chicken in a large bowl or a resealable plastic bag.

2. In a medium bowl, whisk together the fresh lemon juice, olive oil, minced garlic, dried oregano, dried thyme, crushed dried rosemary, salt, and black pepper until well combined.

3. Pour the marinade over the chicken, ensuring all pieces are evenly coated. If using a bowl, toss the chicken to distribute the marinade. If using a resealable bag, squeeze out excess air and massage the bag to coat. Cover the bowl or seal the bag and refrigerate for at least 30 minutes, or up to 2 hours.

4. Preheat your outdoor grill to medium-high heat (around 400 F / 200 C). Clean the grill grates thoroughly with a wire brush to prevent sticking. Lightly oil the grates with a paper towel dipped in a little olive oil.

5. Remove the chicken from the marinade, letting any excess drip off (do not wipe off the marinade). Place the chicken thighs directly on the preheated grill grates. Close the lid and cook for 6-8 minutes per side, or until the internal temperature reaches 165 F (74 C) when measured with an instant-read meat thermometer in the thickest part of the thigh. The chicken should have nice grill marks and be cooked through with no pink in the center.

6. Once cooked, transfer the grilled chicken to a clean plate or cutting board. Tent it loosely with aluminum foil and let it rest for 5-10 minutes. This allows the juices to redistribute, resulting in more tender and flavorful chicken.

7. Garnish with fresh chopped parsley, if desired, and serve immediately.