We present a lattice QCD based determination of the chiral phase transition temperature in QCD with two degenerate, massless quarks and a physical strange quark mass. We propose and calculate two novel estimators for the chiral transition temperature for several values of the light quark masses, corresponding to Goldstone pion masses in the range of $58~{rm MeV}lesssim m_pilesssim 163~{rm MeV}$. The chiral phase transition temperature is determined by extrapolating to vanishing pion mass using universal scaling analysis. Finite volume effects are controlled by extrapolating to the thermodynamic limit using spatial lattice extents in the range of $2.8$-$4.5$ times the inverse of the pion mass. Continuum extrapolations are carried out by using three different values of the lattice cut-off, corresponding to lattices with temporal extent $N_tau=6, 8$ and $12$. After thermodynamic, continuum and chiral extrapolations we find the chiral phase transition temperature $T_c^0=132^{+3}_{-6}$ MeV.