Combine orange juice, lime juice, lemon juice, chili powder, garlic, cumin, oregano, garlic salt, and chipotle powder in a bowl. Pour into a resealable plastic bag and add chicken drumsticks, onion, and cilantro. Seal the bag and refrigerate for at least 8 hours to overnight, turning the bag frequently.

Pour marinade into a multi-functional pressure cooker (such as Instant Pot®). Place the rack inside the pot and place drumsticks on top. Close and lock the lid. Select high pressure according to manufacturer's instructions; set timer for 15 minutes. Allow 10 to 15 minutes for pressure to build.

Release pressure using the natural-release method for 15 minutes. Release remaining pressure using the quick-release method according to manufacturer's instructions, about 5 minutes. Unlock and remove the lid.