Source: http://www.searchenginejournal.com/make-urls-seo-friendly/143425/
In today’s SEO, it still is a puzzle for business owners and webmasters what will make a page URL SEO friendly. No matter what type of niche your website falls under, there are ground rules to follow to make your page URLs optimized on the web.
1. Keep your URLs focused. Omit words that include “a’, “an”, “of”, “the”, etc. Verbs such as “are” and “have” are also not needed in URLs.
2. Keep your URLs as short as possible. Google sees short URLs as more focused rathen than the long ones. When shown in search results, Google bolds keywords used so this helps in making your URLs optimized.
3. Use dashes instead of underscores.
4. In terms of using categories, as long as these can help visitors understand what the page is all about, use them. Some websites may need to include categories to further describe the meaning of the page.
5. When writing a news for your site or blog, aim for coherence. Focus on the post title to create an SEO friendly URL.
6. In case you’re writing for different topics for your site, include categories to separate the post from the rest and to avoid confusion among posts.