Passive farming champs, champions who can deny his ultimate, champs with range or champs that outscale.
Urgots biggest asset is forcing engages against melee champs and punishing champions who want to engage.
These are champions like
. They engage, urgot flips them over into tower or into his wave, slows them and melts them. Urgot is begging for you to fight, because the moment you do, he wins especially lvl3 and after during laning phase.
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Some of these categories will have overlap (eg vlad both farms passively and can counter the ult)
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Champions who farm passively that urgot struggles to force out of lane:

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Champions who can deny urgot's ultimate (either by pressing a button while ulted, or making themselves invulnerable so he can't use it):

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Range:

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champs that out scale really hard

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Bot lane you really want a CC mage support who can obliterate his health bar like
instead of a tank (who urgot will melt and punish for using their melee CC like alistar). There isn't much you can do unless you're vayne, kai'sa or varus (hard CC or mixed damage (helps shred beef as he can't itemize properly)
Of course don't assume you can just pick one of them, expecting automatic victory. Tryndamere and olaf by far give me the most trouble. Once they hit level 6 my life is a nightmare as it forces me to hold my ult and I can't use my E on olaf
After that Jax, Teemo and darius are also a pain. As I can't disengage darius and he outscales me from the get go. Jax you will beat in lane if he tries to fight but the moment he buys urgot loses