Salesforce Data Downloader for Chrome
Salesforce Data Downloader for Chrome is an extension that is designed to get the query results on the fly while being on the same page.
SFDC Query Manager is a very handy tool which allows you to download the query results in CSV format, just like the native Salesforce Workbench tool.
This extension also has the ability to work in the background and not require any permissions for accessing the records.
Once you install the extension, you can start with any page that has an active session. Just open it alongside any window that is open with an active Salesforce Session, and you are good to go.