Step 1: Mix the Lime Garlic Marinade - Add the lime juice, olive oil, lime zest, minced garlic, salt, and black pepper to a large bowl and whisk everything together until the mixture looks evenly combined. You want the oil and lime juice spread through the bowl rather than sitting in separate puddles because that makes it easier to coat every piece of chicken. The lime zest may cling to the whisk a little, so scrape it back into the bowl. That zest carries a lot of citrus aroma, and you want it on the chicken, not left behind.
Step 2: Coat and Marinate the Chicken - Add the chicken thighs to the bowl and turn them several times until every piece is slick with the lime and garlic mixture. If you are moving fast, even 5 to 20 minutes of marinating gives the seasoning time to settle onto the surface. If dinner is not quite ready to happen yet, cover the bowl and refrigerate the chicken for about 30 minutes for a more pronounced lime flavor. I would not leave it in a strong citrus marinade for hours, since the acid can begin changing the texture of the meat.
Step 3: Heat the Skillet Until Very Hot - Set a large skillet over high heat and let it get properly hot before the chicken goes in. This matters more than it may seem. A lukewarm pan encourages the chicken to release moisture and simmer in its own juices, while a hot surface gets right to work browning the outside. When the skillet is ready, lift the thighs from the marinade, let the excess drip back into the bowl, and place the chicken in a single layer with a little breathing room between pieces.
Step 4: Brown the First Side - Leave the chicken alone long enough for the first side to develop a deep golden surface. Depending on the thickness of your thighs and the strength of your burner, this usually takes several minutes. Resist the urge to slide the pieces around constantly. Good browning happens when the meat stays in firm contact with the hot skillet. When the chicken releases from the pan more easily and the underside has a rich brown color, you are ready to turn it.
Step 5: Flip and Cook Through - Turn each thigh and continue cooking until the second side is browned and the chicken is fully cooked through. If the chicken releases a lot of liquid, carefully spoon or pour some of that liquid out of the skillet so the surface can keep browning instead of steaming. For the most reliable doneness check, insert an instant read thermometer into the thickest part of a thigh. The chicken should reach 165°F. The exact cooking time can vary, so let the temperature guide you more than the clock.
Step 6: Rest and Finish with Cilantro - Move the cooked chicken to a plate or serving platter and let it rest for 3 to 5 minutes. Resting gives the juices a chance to settle back into the meat, which means they stay in the chicken when you cut into it instead of running all over the plate. Scatter the chopped fresh cilantro over the warm chicken and tuck fresh lime slices around the platter. I like to give my own piece one last squeeze of lime right before eating because that fresh juice wakes up the browned, garlicky edges beautifully.