In a mixing bowl, whisk together the Greek yogurt, olive oil, lemon juice, lemon zest, minced garlic, minced ginger, ground cumin, ground coriander, paprika, cayenne, cinnamon, salt, pepper, and chopped cilantro until smooth and well combined.
Place the chicken in a gallon-size resealable freezer bag and pour the yogurt marinade over the chicken.
Seal the bag, pressing out excess air, then massage the marinade around the chicken so each piece is evenly coated.
Refrigerate and marinate for at least 2 hours; for breasts marinate up to 8 hours, and for thighs up to 24 hours.
Preheat a gas grill to about 425°F (medium-high). Clean the grates and lightly oil them using a folded paper towel dipped in oil and long tongs.
Grill the chicken until cooked through, about 5 to 7 minutes per side, until an instant-read thermometer inserted into the thickest part reads 165°F.
If desired, brush the chicken lightly with olive oil halfway through grilling to help keep the exterior from drying.
