Mix lemon juice, Worcestershire sauce, 1 Tbsp. garlic and 2 Tbsp. honey in a plastic bag. Add chicken and marinate in fridge for 1 hour.
Heat oil in a large skillet. Remove thighs from marinade, pat dry and sprinkle with salt and pepper. Brown chicken on all sides, about 10 minutes. Remove chicken from pan, add shallots, remaining garlic and crushed red pepper; cook 2 minutes. Return chicken to pan and add orange juice and broth. Simmer, turning once, until chicken is cooked through, about 10 minutes.
Remove chicken to plate. Add mustard, orange zest and remaining honey to skillet. Bring to a boil and whisk until sauce thickens, about 7 minutes. Spoon over chicken and serve.