Change WordPress url for newly formed posts or pages

If you don’t want to use Permanent redirect (which you should do, will not hurt your rankings if it’s done properly), you can do like this:

1. Create a custom post type: check Codex or install a plugin, like Custom Post Type UI
2. Change the permalink structure for this custom post type ( using a plugin ) to /custom_post_type/%post_id%/%postname%/
3. Change your theme to query posts of this new custom type