Preheat the oven to 425 degrees F and line a large baking sheet with parchment paper or foil.
In a large bowl, combine the minced garlic, olive oil, salt, black pepper, thyme, and paprika.
Add the chicken thighs to the bowl and rub the garlic mixture evenly over and under the skin.
Place the chicken thighs on the prepared baking sheet, skin side up, leaving space between them.
Add the halved Brussels sprouts to the same bowl and toss them in the remaining garlic mixture until coated.
Arrange the Brussels sprouts around the chicken on the baking sheet.
Roast for 35 to 40 minutes until the chicken reaches an internal temperature of 165 degrees F and the Brussels sprouts are tender with browned edges.
Remove from the oven and let the chicken rest for 5 minutes before serving with lemon wedges.