Custom URLs in WordPress

I have just freshly installed WordPress on a site with pages already indexed in Google.

Is it possible to configure WordPress to use urls (or permalinks) that match my existing URLs?

For example, if I have one page with this url:

/file-name-01.php

Can I create a static page in WP with the same URL?

I have permalinks enabled, so it would look like this:

/file-name-01/

Is there a better solution that to use a 301 redirect?

Lavern