Kind of a roundabout solution but I just call the API endpoint for my lambda functions when I need to chain them. This allows you to decide while coding if you want them to be asynchronous or not.
In case you don't want to setup a POST request you can just setup a simple GET request with a couple, or none at all, query string parameters for easy event passing.
-- Edit --
See: https://docs.aws.amazon.com/apigateway/api-reference/making-http-requests/
and: http://docs.aws.amazon.com/lambda/latest/dg/with-on-demand-https-example.html