In a bowl, mix olive oil, yogurt, lemon juice, garlic, lemon zest, oregano, basil, thyme, smoked paprika until smooth.
Place chicken pieces in a zippered bag (or the bowl). Spoon marinade over the chicken and make sure it is well coated. Marinate in the refrigerator for at least 1 hour, no more than 2 hours.
Preheat grill to medium heat.
Place chicken on a hot grill. Discard remaining marinade. Cook 6-8 minutes per side until chicken juices run clear and the internal temperature reaches 165˚F.
Allow chicken to rest 5 minutes before slicing. Garnish as desired with lemon slices, chopped parsley, or a sprinkle of red pepper flakes.
Notes
*substitute 2 chicken legs (skin-on thighs or drumsticks)
If chicken breasts are exceptionally thick, place them between two sheets of parchment paper and roll them with a rolling pin or use the flat side of a meat mallet to gently flatten them out.