A parking apparatus for a vehicle and a transmission for a vehicle are provided. The parking apparatus for the vehicle includes an actuator, a pinion gear mounted in an end portion of the actuator and rotating in a same direction as the actuator rotates, a rack gear engaged with one side of the pinion gear and linearly moving in a tangential direction to the pinion gear as the pinion gear rotates, a push assembly including a push shaft extending from an end portion of the rack gear and a push head provided on one side of the push shaft, a parking sprag rotating according to an operation of the push assembly, and a parking gear mounted in a driver and selectively engaged with the parking sprag as the parking sprag rotates.