Let $K = \ker \psi$. Then, since $H$ is maximal in $G$, we have $HK=H$ or $KH=G$.
If $HK=H$ then $K \le H$, so $K \unlhd G$ implies $K \le H_G$, which is what we want,
But if $HK=G$, then $\psi_H$ is irreducible. Then by Frobenius Reciprocity, $\langle \chi,\psi \rangle = \langle 1_H,\psi_H \rangle > 0$, so $\psi_H=1_H$ and hence $\psi=1$, contradiction.