Place the olive oil, garlic, lemon and orange zest, lemon and orange juice, basil, oregano and thyme in a resealable plastic bag. Seal and shake to combine.
Place the chicken in the bag, seal and shake until chicken is coated with the marinade.
Refrigerate for at least 30 minutes or up to 4 hours.
Preheat the grill or a grill pan over medium high heat.
Remove the chicken from the marinade and season both sides generously with salt and pepper.
Grill for 4-5 minutes on each side or until chicken is cooked through.
Remove from grill and let the chicken rest for 5 minutes. Sprinkle with parsley and serve, with lemon wedges if desired.