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In a large bowl, combine Greek yogurt, juice and zest of 1 lemon, fresh chopped garlic, salt, pepper and fresh herbs. Whisk until fully combined.
Add chicken thighs to bowl, and toss chicken until fully coated. Cover with plastic wrap and refrigerate for at least 1 hour, and up to 24 hours.
Preheat grill to 400 degrees fahrenheit.
Spray grates with nonstick spray. Using tongs, place chicken on grill. Close lid. Cook for about 6-10 minutes, or until grill marks form.
Flip chicken, and cook for 6-10 minutes on opposite side. Use an electronic meat thermometer to check temperature. Chicken is fully cooked once it reaches at least 165 degrees fahrenheit.