There are a few different ones. It is just your choice of wanting to drive two- or four-lane roads.
Coming from Maryland, and around the Washington area I am presuming, here are some options...
1. I-95 south to Exit 126 (US 1/US 17). Follow US 17 south all the way to Newport News and pick up I-64 east there.
- US 17 is four-lane divided from US 301 all the way to Newport News
- US 17 bypasses some towns like Saluda and Gloucester, however, south of Yorktown is rather suburban and traffic light congested
2. I-95 south to Exit 98 (VA 30-Doswell/Kings Dominion exit). Follow VA 30 east through West Point and pick up I-64 east south of West Point
- VA 30 is mostly two lanes and may be a slower drive--positive is not as much traffic as you may encounter on I-64
3. I-95 south, I-295 south to Exit 15A (VA 10). Follow VA 10 east past Smithfield to US 258 north, then follow US 17 south to I-664 south to I-64 to I-464 north to get to Norfolk
- VA 10 is mostly two lanes, and like the VA 30 example above, traffic is moderate
- using this route allows you not to deal with the Hampton Roads Bridge Tunnel (especially on weekends) and you can avoid the toll of the I-264 Downtown Tunnel between Portsmouth and Norfolk
4. Using #3 except following I-295 to Exit 3A (US 460). Follow US 460 east to US 58 east just outside of Suffolk. Follow US 58 (along with US 13 and US 460) to I-64 and then I-464 north to Norfolk.
- US 460 is mostly four lanes undivided from I-295 to the Suffolk Bypass with the slowdowns in Waverly, Ivor, Wakefield, and Windsor
- I live in Northern Kentucky and would rather drive this way to Va. Beach than deal with the I-64 traffic between Richmond and Norfolk (my two cents)
5. Following US 60 from I-295 to VA 30 near Toano (Anderson's Corner), then following VA 30 south to I-64 at Exit 231
- This would be the somewhat slower way from Richmond to near Williamsburg as US 60 is four lanes divided and does not go through many towns
- I would not suggest following US 60 all the way to Newport News unless you want to check out Colonial Williamsburg, Busch Gardens, or even Carter's Grove Plantation
Of course, it depends on what part of Norfolk you want to go. If it is near downtown or along Va. Beach Blvd., options 3 or 4 would be best. If you are going to be near the Naval Base, Ocean View, or near the airport, then options 1 or 2 would be better. Or you could just brave I-64 if it was near the middle of the day during the weekday. On the weekends, it would be better to avoid going over the HRBT and follow I-664 south over the Monitor-Merrimac Memorial Bridge-Tunnel which would run you into option 3 when crossing US 17 in Suffolk.
Hope this helps!