Combine marinade ingredients, including olive oil, lemon juice, Dijon, Worcestershire, lemon pepper, and garlic in a bowl or zippered bag. Add chicken and toss well to combine.
Let the chicken marinate for at least 30 minutes (or up to 2 hours) in the refrigerator.
Preheat grill to medium-high heat (around 375-400°F).
Remove the chicken from the marinade and discard excess marinade.
Place the chicken on the preheated grill and cook for 6-8 minutes per side, or until the internal temperature of the chicken reaches 165°F.
Remove the chicken from the grill and let it rest for a few minutes before slicing and serving.
Notes
Be sure the chicken reaches a safe internal cooking temperature of 165ºF. Test with a digital thermometer and remove from the grill promptly to prevent chicken from drying out.
The internal temp of the chicken will continue to rise as it rests, so you can take it off the grill at 163˚F. Check it has risen to 165˚F before consuming.
Cover and allow chicken to rest for at least 5 minutes. The juices will retract back into the meat so it will remain juicy once sliced.
Leftovers will keep in the refrigerator for up to 4 days and in the freezer for 1 month.