The R555 begins in Springs, Gauteng, at an intersection with the R29 Road north of the city centre. It goes north-east as Welgedacht Road and after 8 kilometres, it becomes the road eastwards by way of a right turn. It heads east-north-east into Mpumalanga, initially paralleling the N12 Highway. It goes for 20 kilometres, passing through Eloff, to cross the cosigned R42 / R50 Road in Delmas. While still parallel to the N12, It proceeds eastwards for 42 kilometres to the town of Ogies, where it meets the R545 at a staggered junction. It then proceeds for 27 kilometres, turning to the north-north-east and crossing the N12, meeting the R547, to enter Witbank as Provincial Road and reach an interchange with the N4 Highway. Just after crossing the N4 Highway, it becomes co-signed with the R104 and the R544. Just after the Witbank Long-Distance Taxi Rank in Witbank Central, the R555 and R104 split from the R544 and become Voortrekker Street towards the north-east. From the R544 split, the R555/R104 cosignage goes east-north-east for 29 kilometres, leaving Witbank as Voortrekker Street, meeting the northern terminus of the R575 Road, to reach Middelburg. It enters Middelburg as Walter Sisulu Street. At the Cowen Ntuli Street junction, the R555/R104 meet theN11 National Route from Marble Hall and they become cosigned on Cowen Ntuli Street eastwards. The co-signed route meets the northern terminus of the R35. Just after meeting the R35, the R555 leaves Cowen Ntuli Street and turns to the north. Leaving Middelburg, the road bends north-east. It goes for 59 kilometres to the town of Stoffberg where it makes a staggered junction with the R33. Just after, it crosses into Limpopo Province and the route continues for 110 kilometres north-east, passing through Roossenekal, where it meets the western terminus of the R577, and Steelpoort before crossing the R37 at a staggered junction at Burgersfort. 32 kilometres east-south-east of Burgersfort, the route's eastern end is reached, at an intersection with the R36 at Ohrigstad.
