Google using the url as the title is normal for pages it knows are there but as yet have not been spidered. So good news, you have half the battle won.
If the pages have recently been added then it should just be a short time until googlebot shows up and spiders the pages. After that the SERP titles should reflect the pages' title meta tags.
If the pages have been showing with the urls as the titles for some time then there are a few things you should do.
1) Check your logs to see if googlebot has been around and successfully spidered the pages.
2) Check that the pages title meta tags are properly formed (Sounds picky, but a bad tag can be carried throughout the site by a template or copy and paste.)
3) Check that your robots.txt is not disallowing googlebot and other bots you want to visit. (Another nitpick, but there are those of us who have forgotten to remove the disallow all entry when bringing a development site live.) Similarly, be sure there are no robots 'noindex' meta tags on those page you want spidered.
4) Consider using a site map to be sure that bots can get to all pages on the site no matter what your on-page navigation is.
And, of course, be sure to have some external links pointing to the site. Then just sit back and wait; and add content; and add more links; and more content, etc.