In a large mixing bowl, combine plain yogurt, tandoori masala, cayenne pepper, lemon juice, minced garlic, minced ginger, and salt to create a beautifully fragrant marinade. Add the chicken thighs and coat them thoroughly, ensuring every piece is enveloped in the vibrant mix. Cover the bowl with plastic wrap and refrigerate for at least 30 minutes, or better yet, overnight to let those bold flavors develop.

Once your chicken has marinated, preheat your oven to 425°F (220°C). This high temperature will help achieve the perfect roasting conditions.

While the oven heats, line a baking tray with parchment paper or aluminum foil for easy cleanup. Arrange the marinated chicken thighs in a single layer.

Slide the tray into the preheated oven and let your Tandoori Chicken roast for 25-30 minutes, or until the juices run clear.

Once the Tandoori Chicken is out of the oven, let it rest for a few minutes. Garnish with fresh cilantro or serve with lemon wedges.