Sprinkle chicken lightly with salt and generously with ground black pepper. Heat oil in a large heavy skillet over medium-high heat. Add chicken, garlic, and zest; saute until chicken is lightly browned, about 3 minutes. Add 1 1/2 cups water and 1/2 cup orange juice and bring to a boil. Mix in rice, seasoning packet, and olives. Return to a boil. Reduce heat to medium-low, cover and cook until liquid is absorbed and rice is tender, about 20-30 minutes. Remove from heat; let stand covered 10 minutes.
Stir in cilantro and transer to a platter. Garnish with orange wedges.