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Place chicken in a large sealable plastic bag set in a shallow dish. In a small bowl, stir together honey, mustard, lemon zest, lemon juice, oil, garlic, salt, hot sauce and black pepper. Pour over chicken; seal bag. Turn to coat chicken. Marinate in the refrigerator for 4 hours, turning bag occasionally.
Drain chicken; place any remaining marinade in a saucepan. Bring marinade to a boil. Arrange medium-hot coals around a drip pan in a charcoal grill. Test for medium heat above the pan. Place chicken on grill rack over drip pan. Cover and grill for 50 to 60 minutes or until chicken is no longer pink (180°F), brushing occasionally with sauce during the last 5 minutes of grilling. (For a gas grill, preheat grill. Reduce heat to medium. Adjust for indirect cooking. Place chicken pieces on grill rack over burner that is off. Grill as directed.)