petlja Orlovaca (obilaznica) – Ripanj
km 0,000 – 7,520 · 7,52 km
Ripanj – Lipovička šuma (Barajevo)
km 7,520 – 9,676 · 2,16 km
Lipovička šuma (Barajevo) – Lipovička šuma (V. Moštanica)
km 9,676 – 12,420 · 2,74 km
Lipovička šuma (V. Moštanica) – Meljak (Barajevo)
km 12,420 – 15,494 · 3,07 km
Meljak (Barajevo) – Meljak (Vranić)
km 15,494 – 16,050 · 0,56 km
Meljak (Vranić) – Stepojevac (Draževac)
km 16,050 – 28,763 · 12,71 km
Stepojevac (Draževac) – Stepojevac (Veliki Crljeni)
km 28,763 – 29,741 · 0,98 km
Stepojevac (Veliki Crljeni) – Lazarevac (Ibarski put)
km 29,741 – 43,528 · 14,42 km
Lazarevac (Ibarski put) – Ćelije
km 43,528 – 48,014 · 4,49 km
Ćelije – Županjac
km 48,014 – 52,142 · 4,13 km
Županjac – Dudovica
km 52,142 – 58,506 · 6,36 km
Dudovica – Poljanice
km 58,506 – 67,306 · 8,80 km
Poljanice – Ljig (veza sa A2)
km 67,306 – 68,123 · 0,82 km
Ljig (veza sa A2) – Ljig
km 68,123 – 68,877 · 0,75 km
Ljig – Kadina Luka
km 68,877 – 71,952 · 3,08 km
Kadina Luka – Dići
km 71,952 – 77,656 · 5,70 km
Dići – Ugrinovci
km 77,656 – 87,335 · 9,68 km
Ugrinovci – Bućin Grob
km 87,335 – 98,074 · 10,74 km
Bućin Grob – petlja Gornji Milanovac (Nevade)
km 98,074 – 107,646 · 9,57 km
petlja Gornji Milanovac (Nevade) – Preljina
km 107,646 – 125,530 · 17,88 km
Preljina – Baluga
km 125,511 – 127,520 · 2,01 km
Baluga – Mrčajevci
km 127,468 – 137,794 · 10,33 km
Mrčajevci – Adrani (veza sa A5)
km 137,794 – 153,310 · 15,52 km
Adrani (veza sa A5) – Kraljevo
km 153,310 – 157,679 · 4,37 km
Kraljevo – Kraljevo (Jarčujak)
km 157,679 – 157,870 · 0,19 km
Kraljevo (Jarčujak) – Mataruška Banja
km 157,870 – 164,641 · 6,77 km
Mataruška Banja – Ušće
km 164,641 – 203,694 · 39,05 km
Ušće – Bare
km 203,694 – 208,928 · 5,23 km
Bare – Biljanovac
km 208,928 – 218,503 · 9,58 km
Biljanovac – Brvenik
km 218,503 – 226,741 · 8,24 km
Brvenik – Raška (Kosovska Mitrovica)
km 226,741 – 236,001 · 9,26 km
Raška (Kosovska Mitrovica) – petlja Raška centar
km 236,001 – 236,471 · 0,47 km
petlja Raška centar – petlja Novi Pazar (Banja)
km 236,471 – 253,891 · 17,42 km
petlja Novi Pazar (Banja) – Novi Pazar
km 253,891 – 254,224 · 0,33 km
Novi Pazar – Novi Pazar (Brđani)
km 254,224 – 257,678 · 3,45 km
Novi Pazar (Brđani) – Ribariće
km 257,678 – 282,068 · 24,39 km
Ribariće – Bregovi
km 282,068 – 294,630 · 12,56 km
Bregovi – granica SRB/CG (Špiljani)
km 294,630 – 297,987 · 3,36 km