A vehicle parking apparatus may include a parking rod having a first end portion connected to a detent plate and a second end portion on which a cam is placed, the parking rod rectilinearly moving in accordance with rotation of the detent plate and causing the cam to rotate a sprag about a rotation shaft; and a ‘U’-shaped stopper extending from the second end portion of the parking rod and operating to surround or release the sprag in accordance with the motion of the parking rod, the stopper allowing rotation of the sprag by releasing the sprag when the detent plate is rotated to a P range position and preventing the rotation of the sprag by surrounding the sprag when the detent plate is rotated to a certain range position other than the P range position.