An apparatus for controlling parking of a vehicle, a system having the same, and a method for the same are provided. The apparatus for controlling parking of a vehicle includes a processor to stop the vehicle when the vehicle arrives at a target parking space while performing an automatic parking of the vehicle to the target parking space, to adjust a steering angle, and to terminate the automatic parking after moving the vehicle for a predetermined distance when the steering angle is adjusted and the steering angle is greater than a preset threshold angle and a storage to store a parking path and the threshold angle.