We use the matrix product state formalism to construct stationary scattering states of elementary excitations in generic one-dimensional quantum lattice systems. Our method is applied to the spin-1 Heisenberg antiferromagnet, for which we calculate the full magnon-magnon S matrix for arbitrary momenta and spin, the two-particle contribution to the spectral function, and higher order corrections to the magnetization curve. As our method provides an accurate microscopic representation of the interaction between elementary excitations, we envisage the description of low-energy dynamics of one-dimensional spin chains in terms of these particlelike excitations.