MapQuest.com and RandMcNally.com are good sources for driving directions that avoid highways. Google Maps also offers a driving directions search tool that includes an option to avoid highways.
To use the driving directions search tool on MapQuest.com, click Get Directions, enter a start point and destination, click Route Settings and check Avoid Highways. Click Apply Settings to view the route on an interactive map and to read step-by-step driving directions. The site also shows estimated trip time and distance. RandMcNally.com offers a similar search tool. Enter trip information and click the cogwheel icon in the panel next to Directions to check Highways under Avoid.
To use the direction-finder tool on Google Maps, enter the start point and destination, click Options and check Highways under Avoid.