Footer link without ul and li tag

Menu will be show without ul and li tag
Output:

<a href="#">Lorem ipsam amit</a>
<a href="#">Lorem ipsam amit</a>
<a href="#">Lorem ipsam amit</a>

Input:

<?php $foot_nav = wp_nav_menu( array( 'container' => '', 'echo' => '0', 'depth' => 0, 'theme_location' => 'footer' ) );
$foot_nav2 = preg_replace( array( '#^<ul[^>]*>#', '#</ul>$#' ), '', $foot_nav );
$foot_nav2 = preg_replace( array( '#<li[^>]*>#', '#</li>$#' ), '', $foot_nav2 );
echo '<p class="text-center ftr-menu">'. $foot_nav2 .'</p>';
?>
Another Way
-------------------------
<?php
$menu = array(
'theme_location' => 'footer',
'container' => false,
'echo' => false,
'items_wrap' => '%3$s',
'depth' => 0,
);
echo strip_tags(wp_nav_menu( $menu ), '<a>' );
?>