<?php
$query = new WP_Query(array('post_type' => 'post', 'posts_per_page' => -1));
if ($query->have_posts()) :
    echo '<ul>';
    while ($query->have_posts()) : $query->the_post();
        echo '<li><a href="' . get_permalink() . '">' . get_the_title() . '</a></li>';
    endwhile;
    echo '</ul>';
endif;
wp_reset_postdata();
?>