I found this solution from here
(setq org-agenda-prefix-format '((agenda . " %i %-12:c%?-12t% s")
(timeline . " % s")
(todo .
" %i %-12:c %(concat \"[ \"(org-format-outline-path (org-get-outline-path)) \" ]\") ")
(tags .
" %i %-12:c %(concat \"[ \"(org-format-outline-path (org-get-outline-path)) \" ]\") ")
(search . " %i %-12:c"))
)
This shows the breadcrumbs in the agenda todo view.