My website’s pages have dynamic URLs, does it require static URLs?

Yes. If your websites’ pages have static URLs including keywords or products’ name or services’ name, your website has more chance to rank high in top 10 positions.

Also, over dynamic URLs, static URLs might have more click through rates because users can easily read the URLs and search engines read URLs and indexing better.

According to Google Webmaster Guidelines;

What is a static URL?

"A static URL is one that does not change, so it typically does not contain any url parameters. It can look like this: http://www.example.com/archive/january.htm."

What is a dynamic URL?

"If the content of a site is stored in a database and pulled for display on pages on demand, dynamic URLs maybe used. In that case the site serves basically as a template for the content. Usually, a dynamic URL would look something like this: http://code.google.com/p/google-checkout-php-sample-code/issues/detail?id=31. You can spot dynamic URLs by looking for characters like: ? = &."

Reference:

http://googlewebmastercentral.blogspot.com/2008/09/dynamic-urls-vs-static-urls.html

Related SEO Question:

My website is getting traffic but not generating leads or sales.
Does it require page specific and unique Title & Meta for each page?