In a medium bowl, whisk together olive oil, soy sauce, lemon juice, Worcestershire sauce, minced garlic, Dijon mustard, black pepper, rosemary, and thyme until well combined.
Place meat (such as chicken, beef, pork, or lamb) in a resealable plastic bag or shallow dish. Pour marinade over meat, turning to coat evenly.
Seal bag or cover dish and refrigerate for at least 30 minutes, or up to 8 hours for deeper flavor. Turn occasionally.
Remove meat from marinade and discard excess marinade. Pat meat dry with paper towels before grilling.
Grill as desired, basting with reserved marinade only if boiled first.
Tips
For a spicy kick, add 1 teaspoon red pepper flakes or 1 tablespoon sriracha.
This marinade works well with vegetables like zucchini, bell peppers, and mushrooms.
Do not reuse marinade that has been in contact with raw meat unless boiled for at least 5 minutes.
Store leftover marinade in an airtight container in the refrigerator for up to 1 week.