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Place 1 tablespoon finely grated lemon zest, 3 tablespoons lemon juice, 3 tablespoons olive oil, 3 minced garlic cloves, 2 tablespoons finely chopped fresh rosemary leaves, 1 teaspoon kosher salt, ¼ teaspoon black pepper, and ¼ teaspoon red pepper flakes if using in a large zip-top bag, and massage to combine. (Alternatively, make it in a large bowl and marinate the chicken in the bowl.)
Pat 2 pounds boneless, skinless chicken thighs dry with paper towels. Add to the bag, seal, and massage to coat the chicken evenly with the marinade. Refrigerate, flipping the bag halfway through, for at least 1 hour or up to overnight.
Heat an outdoor grill to direct, medium-high heat (450°F to 500°F). Scrape the grill grates clean if needed.
Remove the chicken from the marinade and let any excess drip off. Place on the grill smooth-side down in a single layer, with space in between each piece. Cover and cook until dark grill marks appear on the bottom and the chicken releases easily from the grill, 4 to 5 minutes. Flip the chicken, cover again, and cook until grill marks appear on the second side and the thickest part of the chicken registers at least 165°F on an instant-read thermometer, 3 to 5 minutes more.