http_build_query

<?php
$q = [
    'filter' => [
        'byType' => [
            [
                'type_id' => 1,
                'price_from' => 100,
                'price_to' => 20000
            ],
            [
                'type_id' => 2,
                'price_from' => 10000,
                'price_to' => 9999999
            ]
        ],
    ]
];
echo urldecode(http_build_query($q));