Stimulated by anomalous behaviors found in non-Kramers $f$-electron systems in an applied magnetic field, we study a two-channel Kondo lattice model by using a cluster extension of the dynamical mean-field theory combined with the continuous-time quantum Monte Carlo method. We include the effect of the external magnetic field in two ways: the Zeeman coupling to conduction electron spins and an effective coupling to the quadrupole degree of freedom through the crystalline electric field splitting. We show that the magnetic field suppresses the antiferroic-spin order (physically, corresponding to the antiferroic-quadrupole order), and yields a channel-selective non-Fermi liquid state where one of the two channels (physically, spin-up or -down) exhibits non-Fermi liquid behavior while the other shows Fermi liquid behavior, before entering the Fermi liquid regime in higher fields. This anomalous state appears in a dome-shaped region which extends from inside the antiferroic-spin ordered phase to the paramagnetic phase. We find that the composite correlation, which is a measure of differentiation in the Kondo coupling between the two channels, is enhanced in this dome-shaped region. We also find that the specific heat coefficient is enhanced in this region in the paramagnetic side, indicating heavy fermion behavior not only in the vicinity of the critical field where the antiferroic-spin order vanishes but also in a certain region of the field and temperature. We discuss the results in comparison with the ordinary Kondo lattice model. We also discuss the implication of our findings to the peculiar behavior observed in the 1-2-20 compounds such as $\rm{PrIr_2Zn_{20}}$, $\rm{PrRh_2Zn_{20}}$, and $\rm{PrV_2Al_{20}}$ under a magnetic field.
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