You can boil the Chlorine out of tap water before you drink it and even better if you're boiling something in the water then the Chlorine will be removed during the boiling process.
To boil Chlorine out of tap water you will need to boil the tap water for a minimum of 30 minutes although when you do boil tap water some or most of the tap water will evaporate into the air.
Other than boiling tap water there's really no surefire way to get the Chlorine out of tap water so it's best to drink water that wasn't chlorinated in the first place.