| 1 | United States Grand Prix | 10th Mar 1991 | Phoenix street circuit
Phoenix, USA | Ayrton Senna (McLaren) |
| 2 | Brazilian Grand Prix | 24th Mar 1991 | Autódromo José Carlos Pace
São Paulo, Brazil | Ayrton Senna (McLaren) |
| 3 | San Marino Grand Prix | 28th Apr 1991 | Autodromo Enzo e Dino Ferrari
Imola, Italy | Ayrton Senna (McLaren) |
| 4 | Monaco Grand Prix | 12th May 1991 | Circuit de Monaco
Monte-Carlo, Monaco | Ayrton Senna (McLaren) |
| 5 | Canadian Grand Prix | 2nd Jun 1991 | Circuit Gilles Villeneuve
Montreal, Canada | Nelson Piquet (Benetton) |
| 6 | Mexican Grand Prix | 16th Jun 1991 | Autódromo Hermanos Rodríguez
Mexico City, Mexico | Riccardo Patrese (Williams) |
| 7 | French Grand Prix | 7th Jul 1991 | Circuit de Nevers Magny-Cours
Magny Cours, France | Nigel Mansell (Williams) |
| 8 | British Grand Prix | 14th Jul 1991 | Silverstone Circuit
Silverstone, UK | Nigel Mansell (Williams) |
| 9 | German Grand Prix | 28th Jul 1991 | Hockenheimring
Hockenheim, Germany | Nigel Mansell (Williams) |
| 10 | Hungarian Grand Prix | 11th Aug 1991 | Hungaroring
Budapest, Hungary | Ayrton Senna (McLaren) |
| 11 | Belgian Grand Prix | 25th Aug 1991 | Circuit de Spa-Francorchamps
Spa, Belgium | Ayrton Senna (McLaren) |
| 12 | Italian Grand Prix | 8th Sep 1991 | Autodromo Nazionale di Monza
Monza, Italy | Nigel Mansell (Williams) |
| 13 | Portuguese Grand Prix | 22nd Sep 1991 | Autódromo do Estoril
Estoril, Portugal | Riccardo Patrese (Williams) |
| 14 | Spanish Grand Prix | 29th Sep 1991 | Circuit de Barcelona-Catalunya
Montmeló, Spain | Nigel Mansell (Williams) |
| 15 | Japanese Grand Prix | 20th Oct 1991 | Suzuka Circuit
Suzuka, Japan | Gerhard Berger (McLaren) |
| 16 | Australian Grand Prix | 3rd Nov 1991 | Adelaide Street Circuit
Adelaide, Australia | Ayrton Senna (McLaren) |