He never met him in the TOS tv series. Walter Koenig did not join the cast until the second season of TOS. So, as far as the cinematic/tv universe, it is a big, gaping plot hole.
In the expanded universe, we find out in the books that Chekov was an officer for the night watch aboard the Enterprise at the time of the Space Seed episode, having joined at some point between I, Mudd and Space Seed in the timeline, as you noted above. As such, he would be familiar with the events and probably met Khan and his crew "off camera", as far as the tv series goes.
In the books, we find out that during the time that Khan was on board, Chekov led a group of officers in resistance against him. This is referenced in the novelization for the Star Trek II movie, as well as in one or two other novels.
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