You need to enable HTML5 mode within angular.
.config(['$routeProvider', '$locationProvider', function($routeProvider, $locationProvider) {
$locationProvider.html5Mode(true).hashPrefix('!');
Then you also need to configure your sever. See this article: Configure your server to work with html5Mode
I'd suggest reading this short post: Pretty URLs in Angular, Removing the Hashtag. In it they also recommend setting <base href="/">
within the head of your HTML.