Neat. As a Firefox user, it appears that this does the trick:

    sqlite3 ~/.mozilla/firefox/$YOUR_PROFILE_ID/places.sqlite "SELECT datetime(visit_date/1000000,'unixepoch'),url FROM moz_historyvisits JOIN moz_places ON place_id=moz_places.id ORDER BY visit_date DESC" > hist.txt

(Looks like the timestamp is in UTC here.)

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Does the original post's code perhaps count two visits to the same URL as one? Something like

    SELECT datetime(visit_time/1000000-11644473600,'unixepoch'),urls.url 
    FROM visits JOIN urls ON visits.url=urls.id
    ORDER BY visit_time DESC;

might be worth a try.