How is Chassis ground connection implemented for an input cable with TVS diode protection?
My question is, how and where is the connection between chassis ground
and circuit ground made?

There are many different ways, but here is the way I do it.
I usually have a connector coming into the board with a different ground on the PCB that is electrically separated from the main PCB ground plane. This ground is also connected to fasteners that tie directly to chassis ground. Any high voltage currents will hit the internal signal line and then the TVS diodes and be shunted to the chassis ground plane and then exit through the fastneer. if the signal is shielded the shell is also tied to chassis ground (in some cases this can have other consequences, like ground loops for shields so you have to be careful doing this, but it also helps pass ESD transient immunity testing)

Whatever you do it needs to be low impedance (you could even do a wire or anything conductive) because if it's not then high frequency or fast transient currents will be less likely to follow that path and more likely to jump to the PCB and cause havoc.

An option I could see is making the chassis ground -&gt; circuit ground
connection with a resistor, to make that a higher impedance path than
the TVS -&gt; circuit ground. But I can not find any information on this
method.

You could do this, but this will reduce the effectiveness of the TVS as any element in series with the TVS (to ground) will create more impedance.