You can do some basic URL filtering using regex with the base license via the use of service policies. See this article for some examples.
However, that's pretty old school and quite cumbersome. The preferred approaches are either
a. Use the optional CX on-box module (requires adding the SSD and licensing Application Visibility Control (AVC) and/or Web Security Essentials (WSE). See this whitepaper.
b. Redirect web traffic (via WCCP) to an external proxy like a WSA (former IronPort now Cisco product) or cloud scanning service for policy / filtering decisions.
For a CX-WSA comparison, see slides 92-93 in this presentation.
HTH