Preheat oven to 375 degrees and line a large baking tray with parchment paper.
In a large bowl, combine rosemary, garlic, lemon zest, lemon juice, salt, pepper, and olive oil. Add the chicken and rub all over with rosemary mixture. Place chicken on baking tray, coating the chicken with any remaining rosemary mixture.
Bake for 30 minutes (flipping halfway through) or until chicken is cooked through.
Drizzle with a bit of olive oil and lemon juice before serving.