Preheat the oven to 400°F (200°C).
Pat the chicken thighs dry with paper towels and season both sides with salt, black pepper, and smoked paprika.
Heat olive oil in a large oven-safe skillet over medium-high heat.
Add the chicken thighs skin-side down and sear for 5-7 minutes until the skin is golden brown and crispy. Flip and cook for another 3 minutes. Remove chicken from the skillet and set aside.
In the same skillet, add the sliced onion, baby carrots, and green beans. Sauté for 4-5 minutes until slightly softened.
Add the minced garlic, fresh rosemary, and thyme to the vegetables and cook for 1 minute until fragrant.
Pour in the chicken broth, lemon juice, lemon zest, and balsamic vinegar. Stir to combine and scrape any browned bits from the bottom of the skillet.
Return the chicken thighs to the skillet, placing them on top of the vegetables, skin-side up.
Transfer the skillet to the preheated oven and roast for 20 minutes, or until the chicken reaches an internal temperature of 165°F (74°C).
Remove from the oven and let rest for 5 minutes before serving.