Avoid old link formats that including dates in them, or tags, etc. Make it like domain.com/category/article-title. Some even remove /category/ part, but I honestly never saw a case where people factually showed that not having the category name in their URL led to a different result than having it.
Make sure your target keyword is in it and make it shorter than 60 characters. That's all it takes to make your URL SEO-friendly.
Things which you should considering for SEO friendly URL:-
1) Use the keyword in the URL on which you want to rank your page.
2) Use Hyphens In-Between Words, to let search engines know that there are separate words.
3) Don't write post titles into a URL.
4) Don't use dates
5) Use only HTTPS.