When you connect your phone to your computer with the USB cable, you should be able to access your phone the same way you would a thumb drive. On a PC, open file explorer, navigate to "This PC" or "My Computer", double click on your phone to open it. You may need to allow USB access on your phone at this point. Once in, depending on where your pictures are stored (internal or SDCard), there is a folder called DCIM (short for Digital Camera IMages), and your pictures and videos should be in there.
Another option, install Google Photos and turn on photo backup on Wifi. If you use the default settings, it will backup all your pictures with unlimited space. Then you just navigate to photos.google.com, sign in, and you can access/download your pictures from there. Plus, they are now backed-up in case something happens to your phone.
Keep in mind that since Android 6 the default USB mode is "charge only". When you plug in your phone with the USB cord, you should see a USB icon in the notification bar. Pull down the bar and tap on that for USB options. What you are looking for is MTP mode.
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