How to change Swagger-ui URL prefix?

Try this configuration class.

@Configuration
@EnableSwagger2
public class SwaggerConfig extends WebMvcConfigurationSupport {

  @Bean
  public Docket productApi() {
    return new Docket(DocumentationType.SWAGGER_2)
        .select().apis(RequestHandlerSelectors.basePackage(""my.favorite.package""))
                        .paths(regex(PathSelectors.any()))
        .build();

  }

  @Override
  public void addViewControllers(ViewControllerRegistry registry) {
    registry.addRedirectViewController("/documentation/v2/api-docs", "/v2/api-docs").setKeepQueryParams(true);
    registry.addRedirectViewController("/documentation/swagger-resources/configuration/ui", "/swagger-resources/configuration/ui");
    registry.addRedirectViewController("/documentation/swagger-resources/configuration/security", "/swagger-resources/configuration/security");
    registry.addRedirectViewController("/documentation/swagger-resources", "/swagger-resources");
  }

  @Override
  public void addResourceHandlers(ResourceHandlerRegistry registry) {
    registry.addResourceHandler("/documentation/**").addResourceLocations("classpath:/META-INF/resources/");
  }


}

UPD: Springfox is abandoned

Springfox Swagger had always been kinda dirty solution with a lot of unclearness and bugs, but by now (2021 Q4) it hadn't been updated for more than a year.

The final straw was the fact that Springfox Swagger 3.0 doesn't work anymore with Spring Boot 2.6.x.

So, if you reading this, please, consider switching over to https://springdoc.org/ instead.

It's a pretty straightforward conversion and they do a great job of documenting it. https://springdoc.org/#migrating-from-springfox.

Original answer

I've found a working solution for Springfox 3.0.0 here:

springfox:
  documentation:
    swaggerUi:
      baseUrl: /documentation
    openApi:
      v3:
        path: /documentation/v3/api-docs
    swagger:
      v2:
        path: /documentation/v2/api-docs

Configuration above will change base-path for Swagger endpoints to /documentation without any redirects and other crutches.

It is sad that these configurations is missing in the docs tho.