How to remove index.php from urls

I would like to know how to remove the index.php from the url for a cleaner url

I didn't work when I renamed the 'htaccess.txt' to '.htaccess' as it was suggested in a forum

Thanks

Using "Use URL rewriting" this option should be enabled by Apache web server users only.
So please check if you have ISS 7.
If you activate this setting, the Apache module mod_rewrite will be used to rewrite your URLs, and remove /index.php/ from it in the process.

That's the only way.
Try to clear cache.