Just as in Diablo II, Diablo III will have waypoints to quickly telelport your character to the far reaches of Sanctuary. When you find one, just walk to it to unlock that waypoint, and you can instantly travel from a waypoint to any other.
AncientTemple
Cathedral Garden
Cathedral Level 1
Cathedral Level 2
Cathedral Level 3
Cathedral Level 4
Cemetary Forsaken
Desolate Chamber
Fields of Misery
Halls Of Agony Level 1
Halls Of Agony Level 2
Halls Of Agony Level 4
Highlands 1
Highlands 2
Leorics Manor 1
New Tristram 1
Hidden Corridor 1
Old Ruins
Royal Crypts
Wortham Bluffs
Wortham Chapel
Ancient Path
Black Canyon Mines
Dahlgur Oasis
Desolate Sands
Flooded Causeway
Hidden Camp
Howling Plateu
Khasim Outpost
Overgrown Path
Road to Arcanus
The Terminus
Bastions Keep Stronghold
Stonefort
Keep Depths Level 1
Keep Depths Level 2
Keep Depths Level 3
Rakkis Crossing
Arreat Crater Level 1
Arreat Crater Level 2
Tower of the Damned Level 1
Tower of the Damned Level 2
The Core of Arreat
The Diamondgates
Gardens of Hope
Crystal Arch Entrance