Six Balsamic Glazed Grilled Chicken Thighs on a Piece of Wax Paper

Balsamic Glazed Grilled Chicken

  • Author: Krista
  • prep_time Prep Time: 30 minutes
  • cook_time Cook Time: 25 minutes
  • total_time Total Time: 55 minutes
  • yield Yield: 6-8 servings 1x
  • category Category: Dinner
  • method Method: Grill
  • cuisine Cuisine: American


This Balsamic Glazed Grilled Chicken is made with hint a fresh rosemary for the perfect weekend grilling recipe. This sweet and savory dinner recipe is also Paleo and gluten free!



  • 2 lbs. of chicken legs, skin on

Balsamic Marinade:

  • 1 tablespoon of mustard, gluten free
  • 1 tablespoon of fresh rosemary, chopped
  • 1 garlic clove, minced
  • 1/4 cup of balsamic vinegar
  • 1/2 cup of olive oil
  • salt & pepper


  1. In a small bowl add mustard, chopped fresh rosemary, garlic clove, balsamic vinegar, salt & pepper, and olive oil. Whisk together so oil and vinegar are no longer separated.
  2. Add chicken legs to a large ziplock bag, next add the marinade mixture to the ziplock. Lock and toss around to make sure everything is coated.
  3. Place in refrigerator for 30 minutes.
  4. Remove chicken from refrigerator 5 minutes prior to grilling.
  5. Heat grill to medium high heat.
  6. Place chicken legs on grill and grill for 20-25 minutes turning throughout the grilling process. Remove and serve!

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