config.xml

<cordova>
  <!-- ... -->
  <plugins>
    <!-- ... -->
    <plugin name="OpenUrl" value="OpenUrl" />
  </plugins>
  <!-- ... -->
</cordova>

index.html

<script type="text/javascript" src="cordova-2.3.0.js"></script>
<script type="text/javascript" src="js/jquery.js"></script>
<script type="text/javascript">
    document.addEventListener("deviceready", function() {

        $(document).on('click', 'a._blank', function(event) {
            event.preventDefault();
            var url = $(this).attr('href');

            var success = function(url) {
                console.log('success! ' + url);
            }

            var error = function() {
                console.log('error');
            }
            
            // execute the plugin
            // exec(successCallback, errorCallback, pluginName, pluginMethod, params)
            cordova.exec(success, error, "OpenUrl", "openUrl", [url]);

            // the other way that opens in the InAppBrowser (which sucks)
            // window.open(url, '_blank');
        });

    });
</script>

OpenUrl.h

/********* OpenUrl.h Cordova Plugin Header *******/

#import <Cordova/CDV.h>

@interface OpenUrl : CDVPlugin

- (void)openUrl:(CDVInvokedUrlCommand*)command;

@end

OpenUrl.m

/********* OpenUrl.m Cordova Plugin Implementation *******/

#import "OpenUrl.h"
#import <Cordova/CDV.h>

@implementation OpenUrl

- (void)openUrl:(CDVInvokedUrlCommand*)command
{
    CDVPluginResult* pluginResult = nil;
    NSString *url = [command.arguments objectAtIndex:0];

    if (url != nil && [url length] > 0) {
        [[UIApplication sharedApplication] openURL:[NSURL URLWithString:url]];            
        pluginResult = [CDVPluginResult resultWithStatus:CDVCommandStatus_OK messageAsString:url];
    } else {
        pluginResult = [CDVPluginResult resultWithStatus:CDVCommandStatus_ERROR];
    }

    [self.commandDelegate sendPluginResult:pluginResult callbackId:command.callbackId];
}

@end

Add the .h and the .m files to the Plugins folder of your iOS project. Add the plugin entry to the config.xml file. Call the plugin from your .js code after deviceready.

I am getting this error, can you help me out?

Failed to restore plugin "OpenUrl" from config.xml. You might need to try adding it again. Error: Error: npm: Command failed with exit code 1 Error output: