Should it be /about_us or /about-us?
From usability point of view, I personally think /about-us is much better for end-user yet Google and most other websites (and javascript frameworks) use underscore naming pattern. Is it just matter of style? Are there any compatibility issues with dashes?
Spaces are allowed in URL's, so you can just use "/about us" in a link (although that will be encoded to "/about%20us". But be honest, this will always be personal preference, so there is no real answer to be given here.
I would go with the convention that dashes can appear in words, so spaces should be converted to underscores.
Google did not treat underscore as a word separator in the past, which I thought was pretty crazy, but apparently it does now. Because of this history, dashes are preferred. Even though underscores are now permissible from an SEO point of view, I still think that dashes are best.
One benefit is that your average semi-computer-illiterate web surfer is much more likely to be able to type a dash on the keyboard, they may not even know what the underscore is.
The SEO guru Jim Westergren tested this back in 2005 from a strict SEO perspective and came to the conclusion that + (plus) was actually the best word delimiter. However, this doesn't seem reasonable and may be due to a bug in the search engines' algorithms. He recommends - (dash) for both readability and SEO.
For end-user view i prefer "about-us" or "about us" not "about_us"
It's not just dash vs. underscore:
Underscores replace spaces where whitespace is not allowed. Dashes (hyphens) can be part of a word, thus joining words with hyphens that already include hyphens is ugly/confusing.
Bad:
Good: