# If you'd like to omit non-matching lines from the result; add ';d' to the end of the expression.
sed -E 's/(.*\\/)[^?]*(?:(\?[^&]*).*)?/$1$2/gm;t' <<< "1. http://www.example.com/myplan/mp/public/pl_be?Id=543543×tamp=06280435435
2. http://www.example.com/course/df/public/pl_de?Id=454354×tamp=0628031746
3. http://www.example.com/book/rg/public/pl_fo?Id=4445577×tamp=0628031734
4. http://www.example.com/trip/tr/public/pl_ds?Id=454354×tamp=06280314546
5. http://www.example.com/trip/tr/public/pl_ds"
Please keep in mind that these code samples are automatically generated and are not guaranteed to work. If you find any syntax errors, feel free to submit a bug report. For a full regex reference for SED, please visit: https://www.gnu.org/software/sed/manual/html_node/The-_0022s_0022-Command.html