Rinse the chicken thighs under cold water. Remove the bones, leaving the skin on, and pat them dry with paper towels. Set aside.
Get a big bowl and mix together the lime juice, lime zest, olive oil, cilantro, jalapeño, garlic, honey, salt, and chili powder. Whisk until well combined.
Add the chicken to the marinade, stirring to coat evenly. Marinate for 2 hours in the refrigerator.
Preheat the grill to medium-high heat. Brush the grill surface with oil to prevent sticking.
Remove the chicken from the marinade, letting excess drip off. Place on the grill.
Grill the chicken for 6 to 8 minutes on each side, until golden brown and the internal temperature reaches 165°F.
Once cooked, remove chicken from the grill and let it rest for a few minutes before slicing.
Serve warm, garnished with additional cilantro or lime wedges.