Studies of the rotational velocities of intermediate-mass main-sequence stars are crucial to test stellar evolution theory. They often rely on spectroscopic measurements of the projected rotation velocities, Veq*sini. These not only suffer from the unknown projection factor sini but tend to ignore additional line-profile broadening mechanisms aside from rotation, such as pulsations and turbulent motions near the stellar surface. This limits the accuracy of Veq distributions derived from Veq*sini measurements. We use asteroseismic measurements to investigate the distribution of the equatorial rotation velocity Veq, its ratio with respect to the critical rotation velocity, Veq/Vcrit, and the specific angular momentum, J/M, for several thousands of BAF-type stars, covering a mass range from 1.3M_{sun}_ to 8.8M_{sun}_ and almost the entire core-hydrogen burning phase. We rely on high-precision model-independent internal rotation frequencies, as well as on masses and radii from asteroseismology to deduce Veq, Veq/Vcrit, and J/M for 2937 gravity-mode pulsators in the Milky Way. The sample stars have rotation frequencies between almost zero and 33uHz, corresponding to rotation periods above 0.35d. We find that intermediate-mass stars experience a break in their J/M occurring {in the mass interval [2.3,2.7]M_{sun}_.} We establish unimodal Veq and Veq/Vcrit distributions for the mass range [1.3,2.5[M_{sun}_ while stars with M in [2.5,8.8]M_{sun}_ reveal some structure in their distributions. We find {that the near-core rotation slows down as stars evolve,} pointing to very efficient angular momentum transport. The kernel density estimators of the asteroseismic internal rotation frequency, equatorial rotation velocity, and specific angular momentum of this large sample of intermediate-mass field stars can conveniently be used for population synthesis studies and to fine-tune the theory of stellar rotation across the main sequence evolution.