Prepare the marinade by combining lime juice, chopped cilantro, minced garlic, cumin, chili powder, salt, and pepper. Whisk until blended. Place chicken thighs in a resealable bag or dish, pour marinade over, seal, and refrigerate for at least 30 minutes or up to 4 hours.
Preheat your grill to medium-high heat, or your oven to 400°F (200°C), or heat a skillet over medium heat with olive oil.
Cook the chicken thighs: Grill for 6-7 minutes on each side until the internal temperature reaches 165°F (75°C), bake for 35-40 minutes, or sauté for 7-8 minutes on each side until golden brown.
Let the chicken rest for a few minutes before serving. Garnish with additional cilantro and lime wedges.