After some research on the Internet we found that the error was possibily related with some null characters in HTTP reponse, more specifically in HTTP headers. So we did a packet capture and found out that the BIG-IP system was sending the following Set-Cookie header filled with nulls:
Set-Cookie: f5_cspm=1234\000;\000;\000;\000;\000;\000;\000;\000;\000;\000;\000;\000;\000;\000;\000;\000;\000;\000;\000;\000;\000;\000;\000;\000;\000;\000;\r\n
Since this cookie is related to the AVR feature, we disabled the HTTP analytics on all virtual servers that had this enabled, to force the BIG-IP system stop to sending this Set-Cookie. After this, we tried the upgrade again and the upgrade worked perfectly and the error ERR_INVALID_HTTP_RESPONSE did not ocurred anymore on Chrome browsers.
As a second test (for confirmation), after the upgrade we enabled the HTTP analytics profile again in some virtual servers and the issue happened again: the applications start to fail in Chrome browsers with an error message of ERR_INVALID_HTTP_RESPONSE.
So, I think is a somekind of bug in the BIG-IP for this version.