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Heat the oven to 375°F. Lightly coat a broiler-safe 9x13-inch ceramic or glass baking dish with cooking spray or oil.
Pat 8 bone-in, skin-on chicken thighs dry with paper towels. Trim off any excess skin if desired. Season all over with 1 ½ teaspoons kosher salt and ¾ teaspoon black pepper. Arrange the chicken skin-side up in the baking dish, spacing them evenly apart.
Whisk ⅓ cup Dijon mustard, ⅓ cup honey, 2 tablespoons olive oil, 2 tablespoons lemon juice, 2 grated garlic cloves, 2 teaspoons Worcestershire sauce, and 1 ½ teaspoons chopped thyme leaves together in a liquid measuring cup or bowl. Reserve ¼ cup of the sauce for brushing the finished chicken.
Pour the remaining sauce over the chicken, spreading or brushing it to coat the skin.
Bake until the chicken is light golden-brown, cooked through, and registers at least 165°F on an instant-read thermometer, 30 to 35 minutes.
Turn the oven to broil and broil, rotating the baking dish as needed, until the skin is golden-brown and crisp, 1 to 3 minutes. Brush with the reserved sauce. Serve garnished with chopped fresh parsley leaves if desired.