I use vimium on Chrome. Love it - can barely use a browser without it these days. It's worth using alone just for the ability to easily click links without ever touching the mouse.
fwiw one can use the '(single quote character) in firefox to easily find and visit links without using the mouse. Quite handy and available out of the box
second vimium. It's not quite as hardcore as vimperator, but at the end of the day I don't really find myself missing it too much since switching over. vimium also has (IMO) better defaults (alphabetical vs. numeric link highlighting, bigger distance traveled with hjkl navigation, etc.)
https://blog.mozilla.org/theden/2012/12/20/quick_find/