Every user has a different opinion. However, comparing them side by side, Firefox stands out immediately. It has excellent privacy control, a good user interface and regularly updates the browser to keep up with the changing tech world. Chrome on the other hand, falls back where privacy is concerned.
Many reviews rated it a 2 out 5 stars on privacy. Mozilla can be considered as an in between browser between the two. The browser gives you a good interface, good privacy and is user friendly. Rating them from the best to worst we would say that Firefox is the best with chrome being the worst.