If the chip is actually a chip, i.e., a fragment of steel fractured out of the edge, as opposed to a dent (plastic deformation), I'd be inclined to sharpen it out as soon as possible. Actual chipping of brittle steel might lead to more cracking/chipping near the damaged area, if the damaged portion is stressed at all during use (snagging/catching/lateral stress by torqueing, etc). This sort of damage is akin to cracks spreading from a chip in your car's windshield, if the chip isn't repaired immediately.
On the other hand, if the damage is just an indentation (plastic deformation), there'll be little risk of additional damage spreading around it. In that case, I'd just use the knife for a while, and gradually sharpen it out over time.
Most edge damage often referred to as 'chipping' actually isn't, but instead is just a dent from an impact of some kind, as the vast majority of knives usually aren't hard enough or brittle enough to chip easily. If they do chip easily, that's usually a sign of a defect of some sort (heat treat, impurities/inclusions in the steel, etc).
Some years ago, I had a chip (fracture) in a Benchmade D2 blade's edge, near which I could actually SEE a crack propagating upward above the chipped area, examining it with a magnifier. I sharpened it out, as I would've otherwise worried about the crack spreading. In extreme cases, a crack spreading like that might eventually lead to a broken blade.
David