In a small bowl, mix olive oil, minced garlic, cumin, salt, and black pepper.
Zest one lime and squeeze enough juice to get 2-3 Tbsp. Cut the remaining lime into wedges.
Chop the cilantro and add half of it to the marinade with the lime zest and juice. Stir to combine.
Place chicken thighs in a dish or zip-top bag, pour in the marinade, and coat well.
Marinate in the fridge for at least 30 minutes or up to 8 hours, turning occasionally.
Heat a skillet over medium-high heat, then cook the chicken for 5-7 minutes per side until browned and cooked through.
Sprinkle with fresh cilantro and squeeze more lime juice on top.