Short answer: Devil's Point at Stonehouse gives three hours of free parking with wide views across the Sound. Elsewhere it is city-centre rates — the Hoe, the Barbican and Royal William Yard are all walkable from one another.
Devil's Point at Stonehouse — a headland with wide views across Plymouth Sound, accessible paths, benches and three hours of free parking. It is the best free parking in the city and most visitors never find it.
From there you can walk round to Royal William Yard, which saves paying twice.
Plymouth's advantage is that nearly everything worth doing sits on the water within a short walk of everything else — the Hoe, the Barbican, Sutton Harbour and Royal William Yard. Park once and walk between them rather than moving the car.
The Box, the city museum and gallery, is free — a mammoth, a 4D history film and well-judged exhibitions. It is the best free indoor day out in Devon and it is barely known outside the city.
Saltram on the eastern edge has National Trust parking, free for members, with acres of parkland. Dartmoor Zoo is fifteen minutes out with its own car park, and they will let you drive up the hill if walking is difficult.
Devil's Point and Saltram are the two good walks. The aquarium does not admit dogs.
Charges are reviewed every year and seasonal tariffs change in March and November. Treat any price here as a guide and check the machine on the day.
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