Use Sitemap Generator to extract all the links from your site recursively and generate Google Sitemap (XML), Yahoo Sitemap (TXT), HTML and CSV sitemaps automatically.
SiteMap XML Dynamic SiteMap Generator, is a php based generator for Google, XML, RSS, HTML and Text site maps. It includes a range of configurable variables and can be run as an online form for Static SiteMaps or to create real time Dynamic SiteMaps.