Is there an easy way to access History list, than to type URL?
I think you mean if there is an easy way to navigate to the Default View for the History List, using the browser?
I believe the History List is a hidden list, so I don't expect you to find any hyperlinks pointing to it.
You could add the link yourself (i.e. add to quicklaunch), either through the UI or create a Feature if you want a more global and reusable solution.