By default, WordPress gives you dynamic URL for your post like “http://yourdomain.com/?p=ID-NUMBER”. The best SEO permalink structure is to have your post appears with ‘post title’ in the URL.
This will looks something like this: “http://yourdomain.com/post-title/category/”
Remember to use the category name effectively. Put your keyword in your category name. I used to have a website about game demo, and I categorized it by the type of game, like ‘action’ or ‘puzzle’. I realized that this is not effective. I then change the category name with ‘action game demo’ and ‘puzzle game demo’.
In order to change the default permalink structure, you need to go to “OPTIONS -> Permalinks” in your admin panel and paste this code into the BOX after “Custom Structure:”