Start typing a website’s name or an url in your Chrome browser’s address bar, and the autocomplete will start displaying suggestions based on the sites you visited recently.
When it highlights the URL you want to delete, just press SHIFT + DELETE.
For Mac users, it’s Fn + Shift + Delete
Autocomplete could even pose a privacy risk as it can reveal the sites you have entered to other users on the same PC. Autocomplete even shows these suggestions on an incognito window.