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front view of your next sumday night dinner: rosemary grilled chicken thighs with steamed asparagus

Rosemary Balsamic Grilled Chicken Thighs

  • Author: Stacey
  • Prep Time: 15 minutes
  • Cook Time: 25 minutes
  • Total Time: 6 portions


Chicken on the grill has never been easier with these rosemary balsamic grilled chicken thighs. Tender, juicy, flavorful and easy to make!


Units Scale

  • 6-7 chicken thighs
  • 1/2 to 3/4 teaspoon salt
  • 1/2 teaspoon pepper
  • Non-stick cooking spray for the grill

Balsamic Marinade:

  • 1 large clove garlic, finely dice
  • 1 cup olive oil
  • 1/2 cup balsamic vinegar
  • 1 tablespoon, plus 1 teaspoon dijon mustard
  • 2 teaspoons finely diced fresh rosemary
  • 1/2 teaspoon salt
  • 1/2 teaspoon pepper



  1. Finely dice the garlic and put it in a glass bowl or jar. I had a mason jar on hand so used that.
  2. Add the olive oil, balsamic vinegar, dijon mustard, salt and pepper.
  3. Finely dice the rosemary and add it to the jar. Make sure you have a little extra to use to garnish the chicken later.
  4. Secure lid to the jar and shake until well combined. If you’re using a bowl, simply whisk the ingredients together until well blended. Set aside.
  5. Take a few minutes to trim the fat from your chicken thighs. I always start with the obvious flaps of fat hanging off the sides. Work your way around the thigh trimming the fat. You should also trim the fat on the underside of the thigh as much as possible too.
  6. Season the chicken thighs on both sides with salt and pepper. Fork each thigh a few times before marinating.
  7. Transfer the chicken to a gallon-sized slider bag, give the marinade one final shake or whisk then pour the marinade in the bag. Squeeze the air out of bag before sealing shut. Then massage the bag so that all the chicken pieces are coated in the marinade. Put in refrigerator overnight.
  8. Heat ONE side of your grill on high. Leave the other side of your grill turned OFF. You know your grill – it’s probably different than mine. For me, high heat works best. I usually let mine warm up about 10 minutes.
  9. Spray the grill with non-stick cooking spray. Place the chicken thighs skin-side down on the side of the grill you turned on. Close the lid and let the chicken cook for four minutes.
  10. After four minutes, turn the chicken thighs, close the lid again and let the thighs cook another 4 minutes.
  11. Next, open the lid and move the chicken thighs to the OTHER side of the grill which is not turned on. For me, the left side of the grilled remained turned on and I moved the chicken to the right side of the grill to let it finish cooking with indirect heat (with the lid down again).
  12. Again, all grills are different. Check the internal temperature of your chicken. Once it hits 165 degrees it’s done. This took 15 minutes for me. Remove chicken and put on a plate or sheet pan.
  13. Serve with your favorite veggies, salad or rice.