Combine olive oil, lime juice, orange juice, soy sauce, Worcestershire sauce and garlic in a small bowl and whisk to combine. Sprinkle skirt steak with salt and pepper on both sides and add to marinade in a large bowl or zip lock bag. Let marinade in the fridge at least 30 minutes or overnight.
When ready to cook, get your grill very hot (over 500F). Remove steak from marinade and place on grill, cook for 3-4 minutes then flip and cook and additional 3-4 minutes or until steak is at your preferred temperature.
Remove from grill and let rest 10 minutes before slicing against the grain. Serve with Easy Chimichurri Sauce for the perfect finish. Enjoy of its own, as tacos or fajitas!