Lay your chicken thigh skin side down on your cutting board. Locate the bone.
Using the tip of your knife, cut through the meat until you hit the bone. Gently scrape your knife tip along the side of the bone. Do this on each side, scraping off the meat as close to the bone as possible. You can use your hands to gently pull the meat away.
Continue scraping your knife along the ends until you reach the joints. Use your fingers to feel around the joints, and slowly cut around with the tip of the knife until the bone is removed. Clean up any excess skin if you like. And, voila! Your chicken thigh is ready to use.
Notes
Save those bones! I put them in the freezer until I have enough to make a chicken stock.