In a large mixing bowl, combine olive oil, garlic, oregano, rosemary, lemon juice, salt, and pepper. Mix until combined.
Add chicken to the marinade and mix until the chicken is evenly coated.
Cover the bowl and let the chicken marinate for at least 1 hour in the refrigerator.
Heat the grill to medium-high heat.
Place the chicken on the grill and cook for 10 minutes per side, or until cooked through.
Once the chicken is cooked, remove it from the grill and serve with your favorite vegetables.