Inject $locationProvider into your config, and set $locationProvider.html5Mode(true).
http://docs.angularjs.org/api/ng.$locationProvider
Simple example:
JS:
myApp.config(function($routeProvider, $locationProvider) {
$locationProvider.html5Mode(true);
$routeProvider
.when("https://stackoverflow.com/page1", { template: 'page1.html', controller: 'Page1Ctrl' })
.when('/page2', { template: 'page2.html', controller: 'Page2Ctrl' })
});
HTML:
<a href="https://stackoverflow.com/page1">Page 1</a> | <a href="http://stackoverflow.com/page2">Page 2</a>