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Into a large, zip-top bag, add lemon juice and zest, black pepper, salt, olive oil, garlic and drumsticks. Marinate for 30 minutes at room temperature.
Preheat an indoor grill pan or an outdoor grill to medium-high. Grill drumsticks on all sides until cooked in the center, about 24-26 minutes total. While the drumsticks are grilling, cut the remaining lemon in half and grill it cut-side down for 4-5 minutes or until caramelized and brown.
Place drumsticks on a platter and garnish with parsley and juice from the grilled lemon.