SR 351 intersects SR 134 (Armistead Avenue) and passes along the northern edge of downtown Hampton, passing the municipal center and becoming a two-lane divided highway. The state highway becomes undivided just before it passes under I-64 (Hampton Roads Beltway) and crosses the Hampton River. SR 351 follows a three-lane road with a center left-turn lane to its junction with US 258 (Mercury Boulevard), then veers northeast as a four-lane undivided highway toward the Buckroe Beach neighborhood of Hampton. The state highway reduces to two lanes at its western intersection with SR 169 (Old Buckroe Road). The two highways run concurrently east to Mallory Street, onto which SR 169 turns south toward the Phoebus neighborhood of Hampton. SR 351 reaches its eastern terminus one block to the east at Second Street on the edge of Buckroe Park two blocks west of the Chesapeake Bay.