Prepare the Marinade: In a large mixing bowl, combine the olive oil, lemon juice, soy sauce, balsamic vinegar, brown sugar, Worcestershire sauce, minced garlic, salt, and black pepper. Whisk everything together until the marinade is well-mixed and the sugar is dissolved.
Marinate the Chicken: Place the chicken legs or thighs in a large resealable plastic bag or a shallow dish. Pour the marinade over the chicken, making sure each piece is fully coated. Seal the bag or cover the dish and refrigerate for at least 2-3 hours, preferably overnight, to allow the flavors to soak in.
Preheat the Oven: Preheat your oven to 400°F (200°C). Line a baking sheet with aluminum foil or parchment paper.
Bake the Chicken: Remove the chicken from the marinade, shaking off any excess. Arrange the chicken in a single layer. Discard the leftover marinade. Bake in the preheated oven for 40-45 minutes, or until the internal temperature reaches 165°F (75°C) and the skin is golden and crispy.
Rest and Garnish: Once cooked, remove the chicken from the oven and let it rest for 5 minutes to retain the juices. Garnish with freshly chopped parsley before serving.
Serve: Serve the marinated oven-baked chicken drumsticks hot, with your favorite sides like roasted vegetables, mashed potatoes, or a fresh salad. Enjoy!