In a small bowl, mix together the lemon zest, lemon juice, minced garlic, olive oil, dried thyme, dried rosemary, paprika, salt, and black pepper.
Place the chicken thighs in a large bowl or a resealable plastic bag. Pour half of the lemon mixture over the chicken, making sure to coat each thigh evenly. Marinate the chicken in the refrigerator for at least 30 minutes (you can also marinate it overnight for more flavor).
Take the chicken out of the refrigerator and let it come to room temperature for about 15 minutes.
Place the chicken thighs on a baking sheet lined with parchment paper or foil, skin side up. Pour the remaining lemon mixture over the chicken.
Bake in the preheated oven for about 35-40 minutes or until the chicken reaches an internal temperature of 165°F (74°C) and the skin is crispy and golden brown.
Optional: Broil the chicken for an additional 2-3 minutes at the end to further crisp up the skin.
Garnish with fresh parsley if desired.
Serve your lemon baked chicken thighs with your favorite side dishes like roasted vegetables, rice, or a fresh salad. Enjoy your flavorful and citrusy meal!