The B291 runs along Fir Tree Road in Epsom. It was originally unclassified, but had been given the number it bears today by 1927. Numerically it was the first B2xx number to gain a number after the original 1922 classification.
The road starts at a roundabout on Epsom Downs where it meets the B284 and two unclassified roads providing access to different parts of the nearby racecourse. It heads northeastwards, becoming residential almost immediately, and descends gently. After a short stretch lined with shops the road ends at traffic lights on the A240. Ahead is the A2022.
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