ExifTool is pretty much the Swiss army chainsaw for doing these kinds of things. It has a steep learning curve, but once you're over it, the kind of renaming you're after is a snap:

exiftool -d '%Y%m%d-%H%M%%-03.c.%%e' '-filename<CreateDate' .

The -d switch tells ExifTool to format dates according to the next argument's pattern. The pattern contains date format codes that fill in various bits and pieces from the date. This would rename a file taken today at 17:34 to 20181226-1734-000.nef. The three zeros after the time are a copy number put there by %%-03.c in the date format. I'll explain why that's important in a minute.

The next argument tells ExifTool to change the filename to whatever is in the CreateDate field in the EXIF using the date format specified earlier.

Finally, the . is the path of the directory where you want to operate. You can also specify individual images if you want.

About the copy number: This is an important thing to put in your filenames because many cameras don't provide fractional seconds in their timestamps. If you had multiple files created during the same second, each successive rename would overwrite the last file and all you'd get is the last one. When picking a name, ExifTool will keep incrementing the copy number until it finds a filename that doesn't exist and rename the file to that. Note that this does not weed out duplicates. If you use this method to copy images from a card into some other directory and then run it again on the same set of images, you will end up with identical files numbered 000 and 001.