May be Site Visualizer is the tool you're looking for. The app has the feature to generate visual sitemap.
Download and install the app (Standard or Pro version), click Create new project toolbutton, type the URL of the website you need to crawl, and then click Start button.
After the crawling is finished, click Draw button on the Visual Sitemap tab. Graph of the website will be drawn as a set of pages (rectangles) and links (lines with arrows). Click on a box to select the certain page and highlight its outbound links:
Dataset of all links of the website you can get by using All Links report (on the Reports tab). 'From URL' and 'To URL' columns are what you need.
Besides of that, you can represent a dataset of pages or links of the crawled website by using your particular SQL query. For instance, go to the Database tab, type the following query and click Execute toolbutton:
SELECT * FROM links WHERE link_type='A'
The resultset will contain only A-tag links, excluding images, CSS files, JS, etc.
The program has full-featured 30-days trial period, so you can carry out your tasks for free.