1. Click the Chrome Menu button (☰)
2. Select "History". This will open a new tab with your browsing history.
(Alternately you can press ^ Ctrl+H to open this directly)
3. Check items you want to remove individually. If you only want to remove a few items, check them and click Remove selected items. Or you can click "Clear browsing data..." and then choose "from the beginning of time" to remove everything.