In a mixing bowl, combine the maple syrup, Dijon mustard, olive oil, minced garlic, chopped rosemary, and thyme. Whisk together until well-blended. Season generously with salt and pepper, then add the lemon zest and juice.
Place the chicken thighs in a large zip-top bag or a shallow dish. Pour the marinade over the chicken, ensuring each thigh is well-coated. Seal the bag or cover the dish and refrigerate for at least 30 minutes, or up to 4 hours for maximum flavor.
Once marinated, remove the chicken thighs from the refrigerator. Place them skin-side up on a baking sheet lined with parchment paper or a greased roasting pan. Reserve any leftover marinade for basting.
Roast the chicken thighs in the preheated oven for 35-40 minutes, or until the skin is crispy and the internal temperature reaches 165°F (75°C). Halfway through the cooking, baste the chicken with the reserved marinade for added flavor and moisture.
If you desire an extra crispy skin, switch the oven to broil during the last 2-3 minutes of cooking. Keep a close eye to prevent burning.
Once cooked, remove the chicken from the oven and let it rest for 5 minutes. Garnish with fresh herbs if desired, then serve with your choice of sides, such as roasted vegetables, rice, or a fresh salad.