First, u should find what-characters-are-valid-in-a-url
Then, the regular expression could be:
(http://|https://)([a-zA-Z0-9\-\._~:/\?\#\[\]@!$&'\(\)\*\+,;=]+)
In my python interpreter, it looks like:
>>> import re
>>> regexp = '''(http://|https://)([a-zA-Z0-9\-\._~:/\?\#\[\]@!$&'\(\)\*\+,;=]+)'''
>>> url = '''href="http://twitter.com/download/iphone" rel="nofollow">Twitter for iPhone https://vine.co/v/i6iIrBwnTFI'''
>>> r = re.findall(regexp, url)
>>> r
[('http://', 'twitter.com/download/iphone'), ('https://', 'vine.co/v/i6iIrBwnTFI')]
>>> [x[0]+x[1] for x in r]
['http://twitter.com/download/iphone', 'https://vine.co/v/i6iIrBwnTFI']