Heading westbound, the route is named Queen's Road as it enters Peckham and the London Borough of Southwark.

It passes the eponymous railway station, Queens Road Peckham, as it enters the central portion of the locality.

The A202 meets the A215 at a crossroads to the south of King's College Hospital, after which the route is known as Camberwell New Road.

In the Lambeth, the A202 meets the A23, which runs southbound towards Brixton and Gatwick Airport (), and the A3, which links the City of London to Clapham and destinations in Surrey and Hampshire.

The Royal Vauxhall Tavern is situated on the A202 route, at the point where Harleyford Road merges with the gyratory and the nearby Kennington Lane.

Travelling anti-clockwise, the Ring Road leaves the Vauxhall gyratory along the A3204 Kennington Lane towards Elephant and Castle in an eastbound direction.

The Ring Road continues clockwise (northbound) on A302 Grosvenor Place, which leads towards Hyde Park Corner.

At Vauxhall, the route crosses Kennington Lane at a signal-controlled junction, running along the eastern perimeter of the gyratory.

North of the gyratory, CS5 runs as a bike freeway across Vauxhall Bridge (adjacent to the A202 southbound carriageway).