5'10", 200lbs, 32" waist, purchased a size MEDIUM. I think they fit perfectly. I think the large would be too big for me since they go up to a 37" waist. If you want to wear a thick base layer, you may want to size up. If you plan on wearing a thin base layer that fits fairly close to the skin (polyester, merino) then I'd consider going with your size from the size chart. They stretch a lot and are quite comfortable. The length is perfect - the legs just extend past my ankles and just touch the floor, so they will be perfect with boots on. Overall, I really like these bibs and can't wait to wear them this fall and winter for camping and hunting!