Marinate: In a small bowl, combine all of the chili lime marinade ingredients and whisk well to combine. Remove about 2-3 tablespoons of the marinade and set aside until ready to grill. You can cover and chill this if grilling at a later time.
In a bowl or a plastic ziplock bag, add the chicken thighs and pour remaining marinade over the chicken and toss to coat, massaging into the chicken (If using a bowl, you can use hands covered in kitchen gloves.)
Allow chicken to marinate for at least 30 minutes and up to 4 hours. (It's best not to marinate chicken longer than 4 hours in lime juice.)
When ready to cook, remove the chicken from the refrigerator and allow it to sit out coming to room temperature for about 20-30 minutes.
To Grill: Preheat grill to medium-high heat. Add chicken thighs, presentation side down, to the heated grill and cook for about 5-7 minutes, or until chicken easily pulls away from the grill.
Flip the chicken thighs and cook for another 5-7 minutes or until internal temperature reaches 165°F. In the last 2-3 minutes, brush the reserved marinade over each side of the chicken. Allow chicken to rest once removed from the grill for about 5 minutes before serving garnished with chopped cilantro.
Stovetop Cooking: Heat a large skillet to medium heat. Add a tablespoon of olive oil or your preferred cooking oil and allow it to heat up. When oil is glistening, add the chicken thighs in a single layer, smooth side down and cook for about 5-7 minutes per side.
In the last 2 minutes of cooking, brush the reserved marinade over each side of the chicken. Remove from pan and rest for 5 minutes before serving topped with cilantro.