Known as the Old Town Connector, the state highway runs 3.14 miles (5.05 km) from SR 163 in Madison Heights east to U.S. Route 29 (US 29) near Madison Heights in southeastern Amherst County.

SR 210 begins at an intersection with SR 163 (Amherst Highway) in Madison Heights on the opposite side of the James River from Lynchburg.

SR 334 is the access road to the Central Virginia Training Center, which was formerly the notorious Virginia State Colony for Epileptics and Feebleminded.

The state highway reduces to two lanes at the interchange's southbound ramps and reaches its eastern terminus at the northbound US 29 ramps.

The roadway continues east as SR 672 (Riverview Road), which serves the peninsula of land within a bend of the James River.