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I'm sure someone much more knowledgeable will be along in a moment... @Oliver Schick @tricitybendix
It's pretty much all been said--most A-roads except for those with ambitions to be motorways are open to cycling. (I suppose you could introduce some kind of additional classification for the latter; 'primary roads' is unavailable, as the name applies to a large number of A-roads, certainly at least those with one or two digit numbers.) You can cycle along the A2 to/from Kent if you fancy it.
Oliver Schick
Where are you from? Might be someone here familiar with both places, could help to compare.
Apart from motorways, there are other roads you can't cycle on, they are signed accordingly. In London these include the Westway (A40) and Limehouse Link. Not sure how common it is out of london. The (M) after A1(M) also means it's a motorway.
I don't know what you mean by primary and secondary roads?
Other roads you can legally cycle on but it isn't always advisable. There are many A-roads I would avoid. You can't really tell from a road map. Google streetview can be helpful. But it varies so much as well person to person.
I'm sure someone much more knowledgeable will be along in a moment... @Oliver Schick @tricitybendix