Whisk together the olive oil, balsamic vinegar, soy sauce, lemon juice, honey, Dijon mustard, and Worcestershire sauce in a mixing bowl until well combined.
Stir in the garlic, dried parsley, dried basil, dried oregano, salt, and black pepper until evenly distributed.
Add the chicken to a resealable bag or baking dish and pour the marinade over the top, ensuring all pieces are well coated. Cover and refrigerate for at least 2 hours.
Preheat the grill or grill pan to medium-high heat.
Remove the chicken from the marinade and grill for 6–8 minutes per side, or until the internal temperature reaches 165°F (74°C).
Let the chicken rest for 5 minutes before serving to keep it juicy.