WonderWebWare SiteMap Generator is a free software that will help you to automatically generate sitemaps in google (XML) or yahoo (TXT) format or just to spider your website and collect all the internal links for you. The tool may export collected links to CSV or HTML file too. The main reason to build this tool was that all other similar programs didn’t fit my requirements.
This software is free for any use, but comes without any warranty. Please, note that the program acts like spider, but will download all the pages of the target site. Do not use this tool to crawl 3-rd party sites without their permission.