In a mixing bowl, whisk together the honey, orange juice, lemon juice, minced garlic, soy sauce, olive oil, orange zest, and lemon zest until well combined.
Season the chicken thighs with salt and pepper on both sides.
Place the chicken thighs in a resealable bag or a baking dish and pour the honey citrus marinade over them, making sure they are well coated. Seal the bag or cover the dish and refrigerate for at least 30 minutes to an hour (or overnight for enhanced flavor).
Preheat your oven to 400°F (200°C).
Remove the chicken from the marinade and reserve the marinade for later. Place the chicken thighs skin-side up in a baking dish or oven-safe skillet.
Bake the chicken in the preheated oven for about 25 minutes, or until the internal temperature reaches 165°F (74°C). During the last 5 minutes of cooking, brush the chicken with the reserved marinade for extra flavor and a glossy finish.
Once cooked, remove from the oven and let the chicken rest for a few minutes. Garnish with fresh parsley if desired.
Serve the Honey Citrus Chicken Thighs with your choice of sides, like rice or steamed vegetables.