Hi Neel_2019 ,
The Bureau hasn't yet released urban/rural populations by county yet (that I know of), but you can get estimates of these figures using the newly released Urban Areas, which are now available as a geography in MCDC's Geocorr application.
Here's a direct link to the query, with results from all states.
If you want to run it yourself, on the Geocorr input form, choose 2020 counties as your source geography, and 2022 urban/rural portion as your target geography.
If you're running a query against many states, it's much faster to deselect the option for HTML output, which takes a long time to generate, and select only CSV output.
Multiply the allocation factors by 100 to get percentages.