Born in Ponsacco, Province of Pisa, Chiarugi started his career with Fiorentina, being part of the lineup that won the 1968–69 Serie A title. After seven seasons with the "viola", Chiarugi moved to A.C. Milan in 1972, being instrumental to the "rossoneri" triumph in the 1972–73 European Cup Winners' Cup, won thanks to a goal by him in the final match against Leeds United, finishing the competition as top scorer.