This is a Duct Tape way of doing it. It isn't fancy or automated in the sense of how I understand you want to do it, however in the interim before someone gives you an actual answer, you can do this:
Click and Drag the Link to the Dock
Drop the Link onto the Chrome Icon
URL opens in Chrome.
If you were to click it instead, it would open in default browser.
That being said, there must be a way, as when you think about it, clicking a link in Chrome or Firefox opens that link in Chrome or Firefox, not Safari.
Some of the answers out there talked about 3rd party apps that can capture the HTTP or HTTPS of the click, but it wasn't definitive from the comments if they actually worked.
Related discussion: OS X Automator action for url in Safari and Apple SE: In a Service, how to get a URL from rich text?
– Ivan Chau – 2015-06-12T14:28:59.560...or perhaps a plist file modification? – Crowder – 2015-07-22T18:43:08.570
Here's my use case, for what it's worth: Safari is my default browser, and I like it that way. But I want to open Google URLs (Google Docs, YouTube, etc.) in Chrome by default, e.g., when I click on a link in Mail. Is there a system-level way to set the default browser for a sub-set of domains? – Crowder – 2015-07-22T18:43:37.333