Creat new admin url for custom post type

You want (probably) add_submenu_page. The first parameter– the one listed as $parent_slug in the Codex is going to be edit.php?post_type=your-post-type-name, like this (mostly cribbed from the Codex page):

function add_submenu_wpse_81844() {
  add_submenu_page( 
      'edit.php?post_type=your-post-type-name'
    , 'My Custom Submenu Page' 
    , 'My Custom Submenu Page'
    , 'manage_options'
    , 'my-custom-submenu-page'
    , 'my_custom_submenu_page_callback'
  );
}
add_action('admin_menu', 'add_submenu_wpse_81844');

Check the Codex for what the other parameters mean.