Taxonomy menu with custom path for taxonomy terms
If you want to alter taxonomy term paths for taxonomy terms implemented by your module, then you can implement hook_term_path(), which is the hook that allows a module to alter the taxonomy term paths.

The function that returns the taxonomy term paths is the following:

    function taxonomy_term_path($term) {
      $vocabulary = taxonomy_vocabulary_load($term-&gt;vid);
      if ($vocabulary-&gt;module != 'taxonomy' &amp;&amp; $path = module_invoke($vocabulary-&gt;module, 'term_path', $term)) {
        return $path;
      }
     return 'taxonomy/term/' . $term-&gt;did;
  }


Implementing that hook would also help to modify the path of any vocabularies, if the field $vocabulary-&gt;module is changed to the short name of the module you created.

Alternatively, you can write the custom_url_rewrite_outbound() and custom_url_rewrite_inbound() that allows to rewrite the URLs being shown to the "outside" world, and convert a URL into the one used by Drupal.
The example given in the documentation should make clear how to use this functions.

function custom_url_rewrite_inbound(&amp;$result, $path, $path_language) {
  global $user;

  // Change all article/x requests to node/x
  if (preg_match('|^article(/.*)|', $path, $matches)) {
    $result = 'node' . $matches[1];
  }
  // Redirect a path called 'e' to the user's profile edit page.
  if ($path == 'e') {
    $result = 'user/' . $user-&gt;uid . '/edit';
  }
}

function custom_url_rewrite_outbound(&amp;$path, &amp;$options, $original_path) {
  global $user;

  // Change all 'node' to 'article'.
  if (preg_match('|^node(/.*)|', $path, $matches)) {
    $path = 'article' . $matches[1];
  }
  // Create a path called 'e' which lands the user on her profile edit page.
  if ($path == 'user/' . $user-&gt;uid . '/edit') {
    $path = 'e';
  }
}


In other cases, you can use a module like Pathauto, or Views Term Path Override, which allows to override the taxonomy term paths in views.
Other modules that could be of help are Path redirect, and Taxonomy Redirect; The project page for Views Term Path Override suggests Taxonomy Views Integrator as alternative.