You can use a free Odoo module, Entity Relationship Diagram (ERD) Maker, which is currently available for versions 8, 9, & 10. It's relatively basic as far as the information provided, but it is easy to install and use.
If you need something more robust, then I would suggest installing and using schemaspy. You can see some usage info on this related question/answer. This has a bit more setup involved and it takes longer to run (1-2 hours for as large/complicated as Odoo's database structure is), but it is able to produce extremely detailed diagrams and results in a great browse-able, local website with about all the information you could want.