Zion Canyon has limited parking, and spots fill quickly. When the lots inside the park are full, NPS says to park in Springdale and ride the shuttle. Vehicles parked outside designated spaces can be cited or towed. That is on Directions and transportation and Traffic and travel tips.
Zion Canyon Visitor Center
NPS calls this Zion’s largest lot: over 350 spaces and more than a dozen accessible spaces. Parking is free and first-come, first-served. You still pay the entrance fee to reach the lot. Stop 1 of the Zion Canyon shuttle is just north of the lot. In summer, the seasons page says all available parking in Zion is often full by 9:00 a.m. If you will arrive later, do not circle hoping the seasons page is wrong. Use Springdale.
Springdale
Town parking is paid. The town of Springdale or local businesses operate and enforce it, not the National Park Service. Streets and lots both exist, and NPS notes designated parking for large vehicles such as RVs or trucks with trailers. Follow the posted signs. Summer enforcement is strict, on the traffic page. If you park in town and walk in, you still pay the entrance fee at the pedestrian entrance. The Springdale shuttle is free. You get off at Zion Canyon Village and walk across the footbridge to the visitor center to catch the canyon bus. How that ride compares with driving is on shuttle or car. This page is only the parking decision.
Scenic drive versus the shuttle
When the shuttle is in season, you cannot drive Zion Canyon Scenic Drive in a private vehicle. That includes the time before the first bus and after the last bus. Lodge guests and horse-ride guests with reservations are the exception the shuttle page names, and only to their designated parking. Private vehicles are allowed on that drive in the non-shuttle season, which the page describes as usually December through February. Check the schedule. It changes. The Zion–Mount Carmel Highway, Kolob Terrace Road, and Kolob Canyons Scenic Drive are different roads. A legal car on those roads is still not a pass up the scenic drive during shuttle season.
A one-day and two-day shape that uses this parking is on the itinerary. Fees: NPS fees and passes.