I-81 at MD border MM1
I-81 north of MD border MM3 (Greencastle)

I-81 at US-16 MM5 (Greencastle)

I-81 at PA-914 MM10

I-81 at PA-316 MM14 (Chambersburg)
I-81 at US-30 MM16 (Chambersburg)
I-81 at Walker Rd MM17 (Chambersburg)
I-81 at PA-997 MM20
I-81 at PA696 MM24 (Shippensburg)
I-81 at PA-174 MM29 (Shippensburg)
I-81 at PA-465 MM44 (Carlisle)
I-81 at Walnut Bottom Rd MM45 (Carlisle)
I-81 at PA-34 MM47 (Carlisle)
I-81 at PA-641 MM49 (Carlisle)
 
I-81 at US-11 MM52 (North of Carlisle)
I-81 at PA-114 MM57
 
I-81 at PA-581 MM59
I-81 at PA-944 MM61
 
I-81 at US-11/15 MM65
I-81 at Front St & US-22/322 MM66 (Harrisburg)
I-81 and US-22/322 split MM67 (Harrisburg)
I-81 & I-83 interchange MM70 (Harrisburg)
I-81 MM72 (Linglestown)
I-81 MM74
I-81 at PA-39 MM77
I-81 near rest area MM79
I-81 at PA-743 MM80
I-81 at I-78 Split MM89 (Jonestown)