Permalink Manager settings allow you to choose which user roles have access to the URI Editor and may change the custom permalink. You may use it, for example, to restrict access to custom permalinks editor to administrators only.
To take advantage of this function, please open the settings and then click the "Advanced settings" option from the list of available tabs.
Alternatively, you can also use the following code snippet and paste it to functions.php file in your child theme directory.
The code below is only a basic sample and you can easily adjust or extend it. For instance, you can change the capability type in current_user_can() function from "administrator" to: "editor", "edit_theme_options" or another capability.
Here you can find a full list of all default capabilities.