In a small bowl, combine the orange, lime and lemon juice.
Stir in the mustard, hot sauce, garlic, maple syrup, paprika, black and cayenne pepper, vinegar, and oil.
Spoon enough seasoning onto the shrimp to coat it all over. Cover and refrigerate for several hours.
Light a charcoal fire. Thread the shrimp onto metal or bamboo skewers.
When the coal turns gray, place the shrimp on a hot grill rack and cook them for about 4 minutes, turning them several times, or until they are cooked through but still tender.