Luc André

By default, WordPress adds a base prefix to taxonomy URLs — <code>/category/</code>, <code>/tag/</code>, or any custom taxonomy base. This plugin removes those prefixes and replaces them with breadcrumb-style paths built directly from the term hierarchy, giving clean, readable URLs that reflect the content structure:
<pre><code>/parent-term/child-term/post-slug/
</code></pre>
For custom post types associated with a taxonomy, the full term path is used as the permalink base. For non-hierarchical taxonomies, only the term slug is used.
It supports:
<ul>
<li>Hierarchical and non-hierarchical taxonomies</li>
<li>Custom post type permalinks built from associated taxonomy term paths</li>
<li>Automatic detection of public taxonomies (including <code>category</code> and <code>post_tag</code>) and CPTs</li>
<li>Configuration via filter for fine-grained control</li>
</ul>
The plugin works at the permalink and rewrite layer and does not modify stored slugs or post content.

Libre Breadcrumb Permalinks

Removes taxonomy base prefixes and builds breadcrumb-style permalinks from term hierarchies.

nablasol

Breadcrumbs is a website navigation technique. With the help of breadcrumbs a user can see where the current page is in relation to the website’s hierarchy.
It allows the user to retrace their steps.
With the help of this plugin you can display breadcrumbs on your wordpress pages, posts, archives and any other pages supported by your WordPress theme.

WPshore Breadcrumbs

An easy-to-use template tag for showing a breadcrumb menu on your site.

Libre Breadcrumb Permalinks vs WPshore Breadcrumbs