There are a number of interstates where I think the ride through the city they go through is pretty neat. A few examples...
I-290 through Worcester, MA
I-95 through Providence, RI, Richmond, VA, New York City, and Wilmington, DE
I-787 through Albany, NY
I-395 through Washington, DC
I-676 through Philadelphia, PA
I-84 and I-91 through Hartford, CT
I-91 through Springfield, MA