This article explains about a simple setup that can be used for url-filtering on cisco routers with particular versions.Since, it is a manual setup so customer need to keep it in mind that he needs to update the website entries manually and entire setup works on regex matching parameters. We'll be using the below mentioned topology for the setup:

Here, I'll be configuring url-filtering based on local list. I'll be blocking facebook.com and youtube.com for the client behind the router. However, the entire process is broken in two different parts :
1.Configuring ZBF on router :
++Defining Zones on router :
zone security inside
zone security outside
++Defining interesting traffic on router :
class-map type inspect match-any HTTPTRAFFIC
match protocol http
class-map type inspect match-any InternalTraffic
match protocol dns
match protocol icmp
match protocol smtp
match protocol ftp
match protocol pop3
match protocol imap
match protocol imap3
++Defining policy-map to specify the action for interesting traffic :
policy-map type inspect IN_2_OUT
class type inspect HTTPTRAFFIC
inspect
class type inspect InternalTraffic
inspect
++Defining Zone-Pair and assigning interfaces to zones
zone-pair security IN_2_OUT source inside destination outside
service-policy type inspect IN_2_OUT
int fa0/0
zone-mem sec inside
int fa0/1
zone-mem sec outside
2.Configuring URL-Filtering :
++Defining regex for matching with request header
parameter-map type urlf-glob Facebook
pattern facebook.com
pattern *.facebook.com
pattern *.fb.com
parameter-map type urlf-glob Youtube
pattern youtube.com
pattern *.youtube.com
parameter-map type urlf-glob InternetAllowed
pattern *
class-map type urlfilter match-any VideoSites
match server-domain urlf-glob Youtube
class-map type urlfilter match-any SocialNetwork
match server-domain urlf-glob Facebook
class-map type urlfilter match-any InternetAllowed
match server-domain urlf-glob InternetAllowed
++ Applying user-specific action to the matching layer7 traffic :
policy-map type inspect urlfilter URLFILTER
class type urlfilter SocialNetwork
reset
log
class type urlfilter VideoSites
reset
log
class type urlfilter InternetAllowed
allow
log
++ Applying layer7 inspection to traffic :
policy-map type inspect IN_2_OUT
class type inspect HTTPTRAFFIC
inspect
service-policy urlfilter URLFILTER
Now, if client tries to access www.facebook.com or www.youtube.com the request would automatically be reset and user will get below mentioned prompt.

Above mentioned setup is only for a small setup and requires manual updating. So, need cautious approach before suggesting to customer. However, its always helpful for customers who do not want to opt for trendmicro filtering and are good to go with trying local IOS filtering.
Reference for Command :
parameter-map type urlf-glob is introduced in 12.4(15)XZ and integrated in 12.4(20)T
parameter-map type urlfilter is introduced in 12.4(6)Tand removed in 12.4(15)XZ and it's hidden in some versions, we can also use parameter-map type urlfpolicy.