Preheat your oven to 400°F (200°C).
In a mixing bowl, whisk together the Dijon mustard, honey, olive oil, apple cider vinegar, garlic powder, onion powder, thyme, rosemary, salt, and pepper until well combined.
Place the chicken thighs in a large baking dish and pour the honey mustard mixture over them, ensuring each piece is well coated.
Arrange the chicken thighs skin-side up in the dish and pour any remaining marinade over the top.
Bake in the preheated oven for 35-40 minutes, or until the chicken reaches an internal temperature of 165°F (74°C) and the skin is crispy.
Remove from the oven and let the chicken rest for 5 minutes before serving. Garnish with fresh parsley.