It's incredibly unlikely to get chlamydia through what you described. Chlamydia can be transmitted during vaginal, anal, and, although less likely, oral sex. Most women and some men do not experience symptoms. If symptoms do occur, they usually appear within 1 to 3 weeks after infection.
However, keep in mind that chlamydia can be transmitted even if the penis or tongue does not enter the vagina, mouth, or rectum. Using latex condoms from the very beginning of sexual contact until there is no longer skin contact reduces the risk of transmission of chlamydia.
I hope this is helpful,