There're so many tool to check for that. But I suggest you try Yoast SEO plugin if you use Wordpress. It's very easy to start with and it's visually too. You'll get a green light if your site is friendly
seositecheckup is a best tool to check weather your site is SEO friendly or not. This site explain in detail each and every part of your site. You just add your link in it and press enter...
Describe your Content. A user should be able to make an accurate guess about the content of a web page simply by reading the URL
Include Keywords in URLs
Use Hyphens to Separate Words
Use Lowercase Letters in URLs
Keep URLs Short
Use Static URLs
Be Careful with Subdomains
Limit Folders in URL Structure