I'm using the Struts 1.3.10 for this illustration:
- Download the latest struts library here (http://struts.apache.org/download.cgi#struts1310). Remember, the Full Distribution is that what you have to download as it contains a war file with the Struts TLD's.
 
- On your web application, copy all the lib in the archive file you downloaded to your 
/WEB-INF/lib folder. 
- For JSTL libraries (which works well with struts) go here (http://java.sun.com/products/jsp/jstl/)
 
- Once you have your Struts TLD's and JSTL Tld's, put them under the 
/WEB-INF/tld/ folder (it must be situated in the /WEB-INF/ folder). 
- On web.xml add the following stuff (under the 
<web-app> element) 
(there is an issue with XML tags and lists on SO)
<jsp-config>
    <taglib>
        <taglib-uri>/WEB-INF/struts-bean.tld</taglib-uri>
        <taglib-location>/WEB-INF/tld/struts-bean.tld</taglib-location>
    </taglib>
    <taglib>
        <taglib-uri>/WEB-INF/struts-html.tld</taglib-uri>
        <taglib-location>/WEB-INF/tld/struts-html.tld</taglib-location>
    </taglib>
    <taglib>
        <taglib-uri>/WEB-INF/struts-logic.tld</taglib-uri>
        <taglib-location>/WEB-INF/tld/struts-logic.tld</taglib-location>
    </taglib>
    <taglib>
        <taglib-uri>/WEB-INF/struts-nested.tld</taglib-uri>
        <taglib-location>/WEB-INF/tld/struts-nested.tld</taglib-location>
    </taglib>
    <taglib>
        <taglib-uri>/WEB-INF/struts-tiles.tld</taglib-uri>
        <taglib-location>/WEB-INF/tld/struts-tiles.tld</taglib-location>
    </taglib>
    <taglib>
        <taglib-uri>/WEB-INF/sslext.tld</taglib-uri>
        <taglib-location>/WEB-INF/tld/sslext.tld</taglib-location>
    </taglib>
    <taglib>
        <taglib-uri>/WEB-INF/struts-layout.tld</taglib-uri>
        <taglib-location>/WEB-INF/tld/struts-layout.tld</taglib-location>
    </taglib>
    <!-- Sun's JSTL -->
    <taglib>
        <taglib-uri>http://java.sun.com/jstl/fn</taglib-uri>
        <taglib-location>/WEB-INF/tld/fn.tld</taglib-location>
    </taglib>
    <taglib>
        <taglib-uri>http://java.sun.com/jstl/fmt</taglib-uri>
        <taglib-location>/WEB-INF/tld/fmt.tld</taglib-location>
    </taglib>
    <taglib>
        <taglib-uri>http://java.sun.com/jstl/fmt-1-0</taglib-uri>
        <taglib-location>/WEB-INF/tld/fmt-1_0.tld</taglib-location>
    </taglib>
    <taglib>
        <taglib-uri>http://java.sun.com/jstl/fmt-rt</taglib-uri>
        <taglib-location>/WEB-INF/tld/fmt-rt.tld</taglib-location>
    </taglib>
    <taglib>
        <taglib-uri>http://java.sun.com/jstl/fmt-1-0-rt</taglib-uri>
        <taglib-location>/WEB-INF/tld/fmt-1_0-rt.tld</taglib-location>
    </taglib>
    <taglib>
        <taglib-uri>http://java.sun.com/jstl/core</taglib-uri>
        <taglib-location>/WEB-INF/tld/c.tld</taglib-location>
    </taglib>
    <taglib>
        <taglib-uri>http://java.sun.com/jstl/core-1-0</taglib-uri>
        <taglib-location>/WEB-INF/tld/c-1_0.tld</taglib-location>
    </taglib>
    <taglib>
        <taglib-uri>http://java.sun.com/jstl/core-rt</taglib-uri>
        <taglib-location>/WEB-INF/tld/c-rt.tld</taglib-location>
    </taglib>
    <taglib>
        <taglib-uri>http://java.sun.com/jstl/core-1-0-rt</taglib-uri>
        <taglib-location>/WEB-INF/tld/c-1_0-rt.tld</taglib-location>
    </taglib>
    <taglib>
        <taglib-uri>http://java.sun.com/jstl/sql</taglib-uri>
        <taglib-location>/WEB-INF/tld/sql.tld</taglib-location>
    </taglib>
    <taglib>
        <taglib-uri>http://java.sun.com/jstl/sql-1-0</taglib-uri>
        <taglib-location>/WEB-INF/tld/sql-1_0.tld</taglib-location>
    </taglib>
    <taglib>
        <taglib-uri>http://java.sun.com/jstl/sql-rt</taglib-uri>
        <taglib-location>/WEB-INF/tld/sql-rt.tld</taglib-location>
    </taglib>
    <taglib>
        <taglib-uri>http://java.sun.com/jstl/sql-1-0-rt</taglib-uri>
        <taglib-location>/WEB-INF/tld/sql-1_0-rt.tld</taglib-location>
    </taglib>
    <taglib>
        <taglib-uri>http://java.sun.com/jstl/x</taglib-uri>
        <taglib-location>/WEB-INF/tld/x.tld</taglib-location>
    </taglib>
    <taglib>
        <taglib-uri>http://java.sun.com/jstl/x-1-0</taglib-uri>
        <taglib-location>/WEB-INF/tld/x-1_0.tld</taglib-location>
    </taglib>
    <taglib>
        <taglib-uri>http://java.sun.com/jstl/x-rt</taglib-uri>
        <taglib-location>/WEB-INF/tld/x-rt.tld</taglib-location>
    </taglib>
    <taglib>
        <taglib-uri>http://java.sun.com/jstl/x-1-0-rt</taglib-uri>
        <taglib-location>/WEB-INF/tld/x-1_0-rt.tld</taglib-location>
    </taglib>
</jsp-config>
This tells that once you call your TLD from the JSP, your webapp will look for the matching <taglib-uri> then look for it's location on <taglib-location> and find relevant class to call.
On your JSP, now you can do this:
<%@ taglib uri="/WEB-INF/struts-html.tld" prefix="html" %>
<%@ taglib uri="/WEB-INF/struts-bean.tld" prefix="bean" %>
<%@ taglib uri="/WEB-INF/struts-logic.tld" prefix="logic" %>
<%@ taglib uri="/WEB-INF/struts-layout.tld" prefix="layout"%>
<%@ taglib uri="http://java.sun.com/jstl/core" prefix="c" %>
<%@ taglib uri="http://java.sun.com/jstl/fmt" prefix="fmt" %>
<%@ taglib uri="http://java.sun.com/jstl/fn" prefix="fn" %>
Hope this helps.