[1] It runs in a North-northeast direction from the A59 at Bond End in Knaresborough where it is called Boroughbridge Road, through the Stockwells Estate.

Beyond Ferrensby the road is called Harrogate Road, and it continues in a more or less exact northeasterly direction from Ferrensby to Spellow Hill, near Staveley, at which point it resumes its due North direction through Minskip, before turning Northeast one final time to its former terminus at junction 48 of the A1(M), just outside Boroughbridge.

[2] The A6055 continues north on the western side of the newly opened A1(M),[3][4] crossing over the new route in the Killerby Hall area and then taking the route of the old A1 road past Catterick to a new junction with the A6136 road on the western side of the A1(M).

[5] It then heads north through Catterick Bridge, switching to the west side and then northward up to Scotch Corner.

The stretch of road between Knaresborough and Boroughbridge has been described as "notorious" on account of its safety issues and local residents have asked for speed limits and traffic calming measures.