What you need to do is setup a "Customer Orders" page in your menu. Navigate to one of your menus and add a new item called "Customer orders" as shown below:
If you want a list of different pages the customer has access to, you could create your own menu with those items and then add a "Menu" module to the sidebar of any/all pages to access them.
To go a step further, you could just create one of HikaShop's built-in "User control panel" menu items and all the customer info, including orders, will be listed on that page. You can see what that page looks like here:
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