Start by juicing the fresh navel oranges, lemons, and limes. Be sure to zest the fruits before juicing.
In a mixing bowl, combine the fresh orange juice, orange zest, lemon juice, lemon zest, lime juice, and lime zest. Whisk until well blended.
Add the olive oil, chopped shallots or red onion, minced garlic, chopped rosemary, Dijon mustard, honey, salt, and black pepper to the citrus mixture. Whisk until smooth.
Place the chicken into a resealable plastic bag or dish. Pour the marinade over the chicken, ensuring it's well coated. Seal the bag or cover the dish and refrigerate for at least 30 minutes, ideally for 2 to 4 hours.
Preheat your grill or oven to medium-high heat. Cook the chicken for about 6-7 minutes per side on the grill or bake at 400°F (200°C) for 20-25 minutes, or until it reaches an internal temperature of 165°F (75°C).
