WordPress comes with a handy option to create SEO friendly URL structure called Permalinks for your site. All you have to do is go to Settings » Permalinks page and choose a URL structure.
There are a number of options to choose from, and you can even specify a custom structure.
Take a look at this link for more info
http://www.wpbeginner.com/wp-tutorials/how-to-create-custom-permalinks-in-wordpress/ .