In a medium bowl, combine freshly squeezed orange juice, lime juice, minced garlic, olive oil, salt, and pepper. Whisk the ingredients together until well blended, creating a vibrant citrus marinade.

Place your chicken pieces in a shallow dish or a resealable plastic bag, and pour the marinade over them, ensuring they are evenly coated. Seal the dish or bag, and refrigerate for at least 30 minutes or up to 4 hours.

Preheat your grill to medium-high heat, aiming for around 400°F to 450°F.

Remove the chicken from the marinade, shaking off any excess liquid, and pat it dry with paper towels. Place the chicken on the preheated grill, cooking each piece for 6-7 minutes per side until the internal temperature reaches 165°F.

Once cooked, transfer the chicken to a clean plate and let it rest for about 5 minutes before serving.