Atlas HTML Sitemap Generator is a WordPress plugin that generates a customizable sitemap which you can add to any page on your site using a simple shortcode.
Simple point-and-click setup from your WordPress dashboard.
Lets you optionally include feeds, authors, pages, categories, tags, archives, and posts.
Displays your posts organized by category.
Lets you exclude individual pages, categories, tags, and posts. You can also exclude whole categories from the post listing.
HTML vs XML Sitemaps:
An HTML sitemap – which is the kind this plugin generates – is an actual page on your site that people can visit. HTML sitemaps are intended primarily for people, though search engines love them too. An XML sitemap, in contrast, is a document intended purely for search engines.
Plugin homepage: http://cranesandskyhooks.com/wordpress-plugins/html-sitemap-generator/
Download and info: http://wordpress.org/extend/plugins/atlas-html-sitemap-generator/