- Western Terminus:
- NY 9D and Chelsea Road (CR 92) in Wappingers Falls
- Eastern Terminus:
- Main Street (NY 52) in Fishkill
- 2.60 miles
CR 34 is an east/west route from Wappingers Falls to Fishkill. It begins at NY 9D, where Chelsea Road (CR 92) becomes Baxtertown Road. After about two miles, Baxtertown Road ends at the southern terminus of Osborne Hill Road (CR 35). CR 34 turns onto Jackson Street, which is follows for about half a mile to the south to Main Street (NY 52) in Fishkill.