If you are asking if re-writing your URL’s to make them search engine friendly will help you in google serps, yes it will. The caveat here is that you take advantage of the URL format and plug keywords into it instead of just generic page names. The idea here is that you can make use of a URL by inserting keywords instead of having some default url full of ugly characters.
Another advantage of re-writing URL’s is that they look more appealing to human users and are easier to read.
More info on that here,