Add all the oil, garlic, lime juice, salt, pepper, paprika, oregano, cumin and taco seasoning into a bowl and whisk together.
Add the chicken thighs to a resealable plastic bag and pour the marinade in.
Shake the bag around to cover all the drumsticks then place in the refrigerator for up to 8 hours.
Preheat the oven to 400 degrees.
Spray a skillet with cooking spray and heat over medium high heat.
Remove the drumsticks from the marinade and wipe off each drumstick with a paper towel removing most of the marinade.
Brown in the skillet for 5 minutes per side until browned then remove to a baking dish.
Add the drained Ro-tel to the baking dish, cover and bake for 40 minutes.
Garnish with fresh lime juice and cilantro if desired and serve.