In a mixing bowl, whisk together lime juice, orange juice, minced garlic, cumin, oregano, and olive oil until well combined.

Place chicken thighs in a zip-top bag or shallow dish. Pour marinade over chicken, ensuring each piece is coated. Seal bag or cover dish and refrigerate for at least 8 hours.

Preheat your oven to 425°F (220°C).

After marinating, remove chicken from the refrigerator and let sit at room temperature for about 15 minutes. Pat the skin dry with paper towels.

Place marinated chicken on a baking sheet lined with parchment paper. Bake for about 35-40 minutes, until skin is golden and internal temperature reaches 175°F (79°C).

At the 20-minute mark, baste chicken with reserved marinade for added flavor and moisture. Broil for an additional 2-3 minutes for extra crispiness.

Once cooked, let chicken rest for about 5 minutes. Serve with chopped cilantro.