Combine all ingredients for the marinade in a gallon zip top bag.
Add whole chicken thighs to bag. Remove excess air, and seal tightly.
Massage bag to evenly coat chicken thighs in marinade, and marinate for at least 4 hours, up to 8 hours.
Preheat grill to medium-high heat (between 400-450° Fahrenheit).
Remove chicken thighs from marinade, and shake off any excess pieces of herbs or garlic.
Place chicken thighs on grill grates and grill for approximately 6-7 minutes per side, or until the internal temperature in the thickest part of the thigh reads 165° Fahrenheit.
Remove chicken thighs to a plate or serving tray, cover lightly with foil, and allow them to rest for 10 minutes before serving.