actually by default it is domain/controller/action
So in domain/user/info/12345, ‘user’ is the controller name, ‘info’ is the action within that controller. models are not within the url. However, a lot of people have controllers that correspond to a certain models, and thus have the name excluding the controller’s suffix. You can write special rules allowing any type of URL structure you like:
Just a note that if you’re using modules then the structure will change to domain/module/controller/action. As said above you can specify basic rewrite rules in the config under the urlManager/rules bit.