On average from Baltimore, MD to Virginia Beach, VA you are looking at 4 to 4 1/2 hours. It depends on what day and what times you plan to travel. For example traveling 95 South to 64 to Virginia Beach on a Friday may run you as much as 6 to 8 hours. Early on a Sunday morning may only take you 4 hours. Traffic around DC and Richmond are your choke points. Those times do not include pit stops and lunch etc. Good luck.