By default the URL structure of a post is: post type / post title 

The way to customize this structure is by navigating to Settings - Advanced Settings and searching for the advanced setting: "post_url_structure"

To add a new value select the plus sign next to the variable name:

To modify the structure of the URL drag and drop each variable to the desired place:

Once the Post URL structure is customized, click Save to update this for all new members that register to the site.

**Important Note: The changes will be reflected on new posts and in older posts that have been re-saved the information.