How do I get rid of “category” from my URL structure?

Question

By default WP links to a category like this, mydomain.com/category/travel. Having the word "category" appear in the URL seems unnecessary. I'd prefer have the link read mydomain.com/travel.

How can I remove "category" from the URL structure? I don't want to replace it with something else as I can do by entering a new Category Base under Settings/Permalinks. But instead eliminate the Category Base all together so that the category names follows the domain name as in mydomain.com/travel.

Thanks in advance for any advice you can offer. Its most appreciated.

Eddie