Try this way:
$stateProvider
.state('books', {
  abstract: true,
  url: '/books',
  controller: 'BooksCtrl',
  templateUrl: 'contents/books.html'
})
.state('books.top', {
  url: '/top',
  templateUrl: 'contents/books-top.html'
})
.state('books.new', {
  url: '',
  templateUrl: 'contents/books-new.html'
});
EDIT: I know that's not very nice, but you can create additional state with same arguments except url:
var booksArgs = {
  url: '',
  templateUrl: 'contents/books-new.html'
};
$stateProvider.state('books.new', booksArgs);
$stateProvider.state('books.new_', angular.extend({}, booksArgs, {
    url: '/new'
}));
Another solution from this post:
In states configuration:
$stateProvider
.state('books', {
  url: '/books',
  controller: 'BooksCtrl',
  templateUrl: 'contents/books.html',
  redirectTo: '.new'
})
.state('books.top', {
  url: '/top',
  templateUrl: 'contents/books-top.html'
})
.state('books.new', {
  url: '/new',
  templateUrl: 'contents/books-new.html'
});
On module run:
app.run(['$rootScope', '$state', function($rootScope, $state) {
    $rootScope.$on('$stateChangeStart', function(evt, to, params) {
      if (to.redirectTo) {
        evt.preventDefault();
        $state.go(to.redirectTo, params, { relative: to });
      }
    });
}]);