In a small bowl, whisk together the olive oil, minced garlic, chopped rosemary, lemon zest, lemon juice, honey, salt, and black pepper until well combined.
Place the chicken thighs in a large zip-top bag or a bowl. Pour the marinade over the chicken, ensuring it's well coated. Seal the bag or cover the bowl and refrigerate for at least 30 minutes (up to 2 hours for more flavor).
In a large oven-safe skillet over medium-high heat, add a drizzle of olive oil. Once hot, remove the chicken from the marinade (reserving the marinade) and place skin-side down in the skillet. Sear for about 5-7 minutes until the skin is golden and crispy.
Flip the chicken thighs and pour the reserved marinade over them. Transfer the skillet to the preheated oven and bake for 25-30 minutes, or until the chicken is cooked through and juices run clear (internal temperature should reach 165°F/75°C).
Remove the skillet from the oven and let the chicken rest for 5 minutes. Garnish with lemon slices and fresh rosemary sprigs before serving.
Notes
For best flavor, marinate the chicken for up to 2 hours.