To avoid the SOQL inside the for loop you can use the Map.
1) https://developer.salesforce.com/docs/atlas.en-us.apexcode.meta/apexcode/langCon_apex_collections_maps.htm

Auto-Populating Map Entries from a SOQL Query

// Populate map from SOQL query
Map<ID, Account> m = new Map<ID, Account>([SELECT Id, Name FROM Account LIMIT 10]);
// After populating the map, iterate through the map entries
for (ID idKey : m.keyset()) {
    Account a = m.get(idKey);
    System.debug(a);
}

Please check below post for example
1) https://developer.salesforce.com/page/Apex_Code_Best_Practices

Example 1:-

Here is an example showing both a query and a DML statement inside a for loop:

trigger accountTestTrggr on Account (before insert, before update) {
	  
   for(Account a: Trigger.new) {
      	  
      //THIS FOLLOWING QUERY IS INEFFICIENT AND DOESN'T SCALE
      //Since the SOQL Query for related Contacts is within the FOR loop, if this trigger is initiated 
      //with more than 100 records, the trigger will exceed the trigger governor limit
      //of maximum 100 SOQL Queries.
      	  
      List<Contact> contacts = [select id, salutation, firstname, lastname, email 
                        from Contact where accountId = :a.Id];
 		  
      for(Contact c: contacts) {
         c.Description=c.salutation + ' ' + c.firstName + ' ' + c.lastname;
         update c;
      }    	  
   }
}

Here is the optimal way to 'bulkify' the code to efficiently query the contacts in a single query and only perform a single update DML operation.

trigger accountTestTrggr on Account (before insert, before update) {
 List<Account> accountsWithContacts = [select id, name, (select id, salutation, description, 
                                                                firstname, lastname, email from Contacts) 
                                                                from Account where Id IN :Trigger.newMap.keySet()];
	  
  List<Contact> contactsToUpdate = new List<Contact>{};
  for(Account a: accountsWithContacts){
     // Use the child relationships dot syntax to access the related Contacts
     for(Contact c: a.Contacts){
   	  System.debug('Contact Id[' + c.Id + '], FirstName[' + c.firstname + '], LastName[' + c.lastname +']');
   	  c.Description=c.salutation + ' ' + c.firstName + ' ' + c.lastname; 
   	  contactsToUpdate.add(c);
     }    	  
   }
      
   //Now outside the FOR Loop, perform a single Update DML statement. 
   update contactsToUpdate;
}

Please check below post for trigger best pratice
1) http://amitsalesforce.blogspot.in/2015/06/trigger-best-practices-sample-trigger.html
2) http://amitsalesforce.blogspot.in/2015/03/how-to-stop-recursive-trigger-in.html

1) One Trigger Per Object
A single Apex Trigger is all you need for one particular object. If you develop multiple Triggers for a single object, you have no way of controlling the order of execution if those Triggers can run in the same contexts

2) Logic-less Triggers
If you write methods in your Triggers, those can’t be exposed for test purposes. You also can’t expose logic to be re-used anywhere else in your org.

3) Context-Specific Handler Methods
Create context-specific handler methods in Trigger handlers

4) Bulkify your Code
Bulkifying Apex code refers to the concept of making sure the code properly handles more than one record at a time.

5) Avoid SOQL Queries or DML statements inside FOR Loops
An individual Apex request gets a maximum of 100 SOQL queries before exceeding that governor limit. So if this trigger is invoked by a batch of more than 100 Account records, the governor limit will throw a runtime exception

6) Using Collections, Streamlining Queries, and Efficient For Loops
It is important to use Apex Collections to efficiently query data and store the data in memory. A combination of using collections and streamlining SOQL queries can substantially help writing efficient Apex code and avoid governor limits

7) Querying Large Data Sets
The total number of records that can be returned by SOQL queries in a request is 50,000. If returning a large set of queries causes you to exceed your heap limit, then a SOQL query for loop must be used instead. It can process multiple batches of records through the use of internal calls to query and queryMore

8) Use @future Appropriately
It is critical to write your Apex code to efficiently handle bulk or many records at a time. This is also true for asynchronous Apex methods (those annotated with the @future keyword). The differences between synchronous and asynchronous Apex can be found

9) Avoid Hardcoding IDs
When deploying Apex code between sandbox and production environments, or installing Force.com AppExchange packages, it is essential to avoid hardcoding IDs in the Apex code. By doing so, if the record IDs change between environments, the logic can dynamically identify the proper data to operate against and not fail

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