In a large mixing bowl, add all of the ingredients, besides the shrimp, to create a marinade. Mix the marinade to evenly combine everything.
Add the shrimp to the marinade and gently toss them around to evenly coat them.
Marinate for 30 minutes to an hour.
Gather about 10 skewers and skewer 4 to 5 shrimp on each one, allowing any extra marinade to drip off. Leaving a little space in between each shrimp, stick the skewer through the bottom and out the top, forming a "c" shape with each one. Discard the marinade.
Preheat your grill to 350 degrees F before adding the skewered shrimp onto the grill grates.
Cook the shrimp for around 3 minutes on each side or until slightly charred outside and opaque in the middle, about 6 minutes total. Remove the skewers to a clean plate as soon as they're cooked through to prevent overcooking.
Serve margarita grilled shrimp with a drizzle of fresh squeezed lime juice and a sprinkle of freshly chopped cilantro over top.