Original source: http://stackapps.com/a/4238/3451 - To install it on Chrome, just use Tampermonkey https://chrome.google.com/webstore/detail/tampermonkey/dhdgffkkebhmkfjojejmpbldmpobfkfo/

SETimeline.user.js

// ==UserScript==
// @name          Stack Exchange Timeline Link
// @namespace     stackoverflow
// @description   Add a 'timeline' link to Stack Exchange / Stack Overflow posts - based on http://stackapps.com/questions/2047/add-timeline-and-revisions-links/4238#4238
// @include       http*//*stackexchange.com/*
// @include       http*//*stackoverflow.com/*
// @include       http*//*serverfault.com/*
// @include       http*//*superuser.com/*
// @include       http*//*askubuntu.com/*
// @include       http*//*mathoverflow.net/*
// @include       http*//*onstartups.com/*
// @include       http*//*nothingtoinstall.com/*
// @include       http*//*seasonedadvice.com/*
// @include       http*//*stackapps.com/*
// @exclude       http*//chat*stackexchange.com/*
// @exclude       http*//chat*stackoverflow.com/*
// @exclude       http*//api*stackexchange.com/*
// @exclude       http*//data*stackexchange.com/*
// @exclude       */reputation
// @grant         none
// ==/UserScript==

(function(){
    var start=function(){
		$(".post-menu").each(function(){
            id = $(this).find("a.short-link")[0].href.replace(/^.*\/a\//, "").replace(/\/\d+(?:#.*)?$/, "").replace(/\D+/, "");
            rlink = $("<span class='lsep'>|</span><a href='/posts/"+id+"/timeline'>timeline</a>");
            $(this).append(rlink);
        });
    };

    var script = document.createElement("script");
    script.type = "text/javascript";
    script.textContent = "(" + start + ")();";
    document.body.appendChild(script);
})();