The Henry Hudson Parkway runs along the west side of Manhattan from West Street to the Saw Mill River Parkway. It was completed in 1937 and overlaps with NY 9A for most of its length. The freeway was formerly extended south via the West Side Highway. The Henry Hudson Bridge became the first all-electronic toll facility maintained by the MTA.
| Mile | Northbound | Southbound | Notes |
|---|---|---|---|
| New York County Borough of Manhattan |
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| Speed Limit 50 | Speed Limit 30 | ||
| 0.0 |   |
 SouthBattery Park |
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| 1.1 | Exit 10A West 79th Street |
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| 1.1 | Exit 10B Boat Basin |
Exit 10 West 79th Street Boat Basin |
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| 1.9 | Exit 11 West 96th Street |
Exit 11 West 95th Street |
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| 1.9 | South Henry Hudson Parkway |
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| 3.7 | Exit 12 West 125th Street |
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| 4.9 | Exit 13 West 158th Street |
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| 6.1 | Exit 14 George Washington Bridge Cross-Bronx Expressway West 178th Street |
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| 6.1 | Exit 15 Riverside Drive South |
Exit 14 To Riverside Drive George Washington Bridge Cross-Bronx Expressway |
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| Speed Limit 45 | Speed Limit 50 | ||
| 7.1 | Exit 16 Fort Tryon Park Cloisters |
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| 7.4 | Exit 17 Dyckman Street Last exit before toll |
Exit 17 Dyckman Street |
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| Speed Limit 40 | Speed Limit 45 | ||
| Henry Hudson Bridge Toll | |||
| Bronx County Borough of The Bronx |
New York County Borough of Manhattan |
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| 8.6 | Exit 18 Kappock Street |
Exit 18 Kappock Street Last exit before toll |
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| 8.9 | Exit 19 West 232nd Street |
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| 9.3 | Exit 20 West 239th Street |
Exit 20 West 237th Street |
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| Speed Limit 50 | Speed Limit 40 | ||
| 9.7 | Exit 21 West 246th Street West 250th Street |
Exit 21 West 246th Street |
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| 10.2 | Exit 22 West 253rd Street Riverdale Avenue |
Exit 22 West 254th Street Riverdale Avenue |
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| 10.7 | Exit 23A SouthBroadway |
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| 10.7 | Exit 23B North North Broadway |
Exit 23 North Broadway |
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| 11.2 | Exit 24 Mosholu Parkway |
Exit 24 To  SouthMosholu Parkway |
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| 11.7 |  |
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| Speed Limit 50 | |||
| Westchester County | Bronx County Borough of The Bronx |
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