Add the chicken to a non-reactive bowl or container with lime juice, orange juice, honey, olive oil, and taco seasoning. Let marinate for 30-60 minutes. Do not marinate longer or the chicken will break down in the lime juice.
Heat a grill over medium-high heat. Grill the chicken thighs for 4-5 minutes per side or until cooked through. Let rest for 5 minutes. You can also cook this in a heavy skillet over medium-high heat. Add a drizzle of olive oil. Add the chicken in a single layer and let it sear and brown for 4-5 minutes on each side.