SR 210 begins in Halls (within Lauderdale County) at an intersection with SR 88, which continues south beyond this intersection. SR 210 travels northerly out of Halls, travelling parallel to the Canadian National Railway toward the Dyer County line. Near the county line, the highway passes near the Arnold Field Airport (formerly Dyersburg Army Air Base) built during World War II. In Dyer County, this highway continues north through bottomland until reaches the small community of Fowlkes. In Fowlkes, SR 210 comes to a 4-way intersection and continues east traversing farmland and rolling hills until terminating at US 412/SR 20. Even though the SR 210 designation ends at US 412, the highway actually continues on as Old Highway 20. Mile Markers on this highway reset to 0 at the Lauderdale–Dyer County Line.
SR 210 from its intersection with SR 88 in Halls to mile marker 3.25 (above-mentioned 4-way intersection) in Fowlkes represents the historic alignment of US 51/SR 3. From mile marker 3.25 to mile marker 6.50 in Dyer County represents the historic alignment of SR 20.