Zest your citrus fruit into a mixing bowl.
In a food processor add your rinsed cilantro, minced garlic, cumin, coriander, jalapeno, apple cider vinegar, olive oil, and lemon, lime, and orange juice.
Pulse the food processor until all ingredients are finely chopped and well mixed.
Pour the contents of the food processor into the mixing bowl and stir well.
Dip your trimmed skirt steak into the marinade, fully coating both sides, then place into a glass container. Pour the remaining marinade over the skirt steak and place into the fridge for 30 minutes to 8 hours.
About 30-45 minutes before you want to eat, pull the meat out and allow it to come to room temperature on the counter. While the meat is coming to room temperature, start your grill and set it for high heat.
Once your grill is ready, place the meat over the heat source and cook for 5-8 minutes per side (depending on the thickness and preferred doneness).
Remove your cooked carne asada from the grill and allow to rest 5-10 minutes before slicing against the grain and serving.