In a large bowl, add together yogurt, olive oil, lemon juice, lime juice, onion powder, rosemary lemon zest, lime zest, garlic, salt, and pepper. Whisk thoroughly until all ingredients are incorporated.
Add chicken to bowl with sauce and toss to coat.
Cover bowl and let marinate in the refrigerator for at least 1 hour or up to 4 hours.
When ready to cook, preheat grill to medium-high. If using wooden skewers, prepare them by soaking 6 skewers in water for 20 minutes.
To prepare chicken: thread marinated chicken on metal or water-soaked wooden skewers. Each skewer should be able to hold anywhere from 6-8 cubes of chicken. If using vegetables, thread on skewers as desired between or around chicken. Repeat this step until all the chicken is threaded on a skewer. Discard any extra marinade.
Grill assembled skewers until the chicken is fully cooked, about 5-6 minutes per side. Chicken is done when inside is no longer pink and internal temperature is 165 degrees F.
Serve greek chicken skewers immediately with fresh yogurt or tzatziki sauce for dipping (optional).
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