From Wikipedia: "The shield was specified with a height of 16 inches (41 cm) and a width of 16.5 inches (42 cm). The surface of the shield was itself in the shape of the shield, that is, the metal was cut out in the shape of the shield. A border of 3⁄8 inch (0.95 cm) formed the outline of the shield, with a crossbar of the same width dividing the crown from the main body of the shield.
The name of the state erecting the shield was displayed 2 inches (5.1 cm) high in the crown, above the crossbar. Immediately below the crossbar were the letters "U S", also 2 inches (5.1 cm) high. Below this was the route number, 5 inches (13 cm) tall. A variant of the shield, intended for city use, measured slightly smaller at 11+23⁄32 by 11+11⁄32 inches (29.8 cm × 28.8 cm)."
This is for the original shields. Wikipedia also includes dimensions and fonts for the 1948, 1961, and 1971 versions.