One approach would be:
var url = string.Format("http://www.yoursite.com?{0}",
HttpUtility.UrlEncode(string.Join("&",
parameters.Select(kvp =>
string.Format("{0}={1}", kvp.Key, kvp.Value)))));
You could also use string interpolation as introduced in C#6:
var url = $"http://www.yoursite.com?{HttpUtility.UrlEncode(string.Join("&", parameters.Select(kvp => $"{kvp.Key}={kvp.Value}")))}";
And you could get rid of the UrlEncode
if you don't need it, I just added it for completeness.