Transfer Bookmarks from Chrome to Firefox

I have currently got Google Chrome and Firefox installed, but I want to switch to Firefox so I want to some how transfer my mass collections of bookmarks from Chrome to Firefox, so is there any way of doing this?

Perhaps if I export all my Google Chrome bookmarks into an HTML file, can I import them into Firefox then? Or is there any quick and efficient way of sort of manually transferring the bookmarks through the editing of Firefox files? Or any way at all of doing it? And is there any way of doing this without installing a third-party add-on?

OS Information:

Description:    Ubuntu 15.04
Release:    15.04

Package Information:

Google Chrome:

google-chrome-stable:
  Installed: 42.0.2311.90-1
  Candidate: 42.0.2311.90-1
  Version table:
 *** 42.0.2311.90-1 0
        500  stable/main amd64 Packages
        100 /var/lib/dpkg/status

Mozilla Firefox:

firefox:
  Installed: 37.0.2+build1-0ubuntu0.15.04.1
  Candidate: 37.0.2+build1-0ubuntu0.15.04.1
  Version table:
 *** 37.0.2+build1-0ubuntu0.15.04.1 0
        500  vivid-updates/main amd64 Packages
        500  vivid-security/main amd64 Packages
        100 /var/lib/dpkg/status
     37.0+build2-0ubuntu1 0
        500  vivid/main amd64 Packages