Permalinks

Hi everyone,

I need a little help with my permalink structure my urls look like this https://www.yourcleaningmatters.co.uk/carpetcleaningbromsgrove/

but surely for seo purposes they wouldn’t they look better like this
https://www.yourcleaningmatters.co.uk/carpet-cleaning-bromsgrove/

I have my permalinks currently set like this >> https://www.yourcleaningmatters.co.uk/sample-post/

If I change do I re-direct the old urls to the new one ?

Any help would be greatly appreciated

Many Thanks