Put your struts taglib files in Web-Inf and specify the below code in Web.Xml
Below XML attributes are load the taglib in jsp and parse the HTML elements.
<session-config>
<tracking-mode>COOKIE</tracking-mode>
</session-config>
Now URL look like this..<?xml version="1.0" encoding="UTF-8"?>
<web-app>
<display-name>Custom Error Page</display-name>
<!-- Standard Action Servlet Configuration -->
<servlet>
<servlet-name>action</servlet-name>
<servlet-class>org.apache.struts.action.ActionServlet</servlet-class>
<init-param>
<param-name>config</param-name>
<param-value>/WEB-INF/struts-config.xml</param-value>
</init-param>
<load-on-startup>2</load-on-startup>
</servlet>
<!-- Standard Action Servlet Mapping -->
<servlet-mapping>
<servlet-name>action</servlet-name>
<url-pattern>*.do</url-pattern>
</servlet-mapping>
<!-- The Usual Welcome File List -->
<welcome-file-list>
<welcome-file>index.jsp</welcome-file>
</welcome-file-list>
<!-- The Custom Error Page List -->
<error-page>
<error-code>404</error-code>
<location>error404.jsp</location>
</error-page>
</web-app>