Drupal node title as URL permalinks
Enable module Path. it is provided in Drupal core.
If you want automatically generate url aliases for new nodes - install Pathauto 


  The Pathauto module automatically generates URL/path aliases for various kinds of content (nodes, taxonomy terms, users) without requiring the user to manually specify the path alias. This allows you to have URL aliases like /category/my-node-title instead of /node/123. The aliases are based upon a "pattern" system that uses tokens which the administrator can change.