EDIT: As @Jukka K. Korpela correctly points out, RFC 1738 was updated by RFC 3986.
This has expanded and clarified the characters valid for host, unfortunately it's not easily copied and pasted, but I'll do my best.
In first matched order:
host = IP-literal / IPv4address / reg-name
IP-literal = "[" ( IPv6address / IPvFuture ) "]"
IPvFuture = "v" 1*HEXDIG "." 1*( unreserved / sub-delims / ":" )
IPv6address = 6( h16 ":" ) ls32
/ "::" 5( h16 ":" ) ls32
/ [ h16 ] "::" 4( h16 ":" ) ls32
/ [ *1( h16 ":" ) h16 ] "::" 3( h16 ":" ) ls32
/ [ *2( h16 ":" ) h16 ] "::" 2( h16 ":" ) ls32
/ [ *3( h16 ":" ) h16 ] "::" h16 ":" ls32
/ [ *4( h16 ":" ) h16 ] "::" ls32
/ [ *5( h16 ":" ) h16 ] "::" h16
/ [ *6( h16 ":" ) h16 ] "::"
ls32 = ( h16 ":" h16 ) / IPv4address
; least-significant 32 bits of address
h16 = 1*4HEXDIG
; 16 bits of address represented in hexadecimal
IPv4address = dec-octet "." dec-octet "." dec-octet "." dec-octet
dec-octet = DIGIT ; 0-9
/ %x31-39 DIGIT ; 10-99
/ "1" 2DIGIT ; 100-199
/ "2" %x30-34 DIGIT ; 200-249
/ "25" %x30-35 ; 250-255
reg-name = *( unreserved / pct-encoded / sub-delims )
unreserved = ALPHA / DIGIT / "-" / "." / "_" / "~" <---This seems like a practical shortcut, most closely resembling original answer
reserved = gen-delims / sub-delims
gen-delims = ":" / "/" / "?" / "#" / "[" / "]" / "@"
sub-delims = "!" / "$" / "&" / "'" / "(" / ")"
/ "*" / "+" / "," / ";" / "="
pct-encoded = "%" HEXDIG HEXDIG
Original answer from RFC 1738 specification:
Thus, only alphanumerics, the special characters "$-_.+!*'(),
", and
reserved characters used for their reserved purposes may be used
unencoded within a URL.
^ obsolete since 1998.
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