They should ripen after Summer is finished. Exactly how quickly they do so may depend on the season and the type of orange you're growing. You may wait into next spring or possibly beyond if your area is cold with a short summer.
To tell if they're ripe, (obviously they will go orange in colour), give one a gentle twistand it should come fairly easily off the tree, or wait till one drops off, then check others. I give my tree a good shake each week and get a dozen or so each time. Fresh is best.

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The secret is the soil.