A caliper parking brake including: caliper housing having one end on which a cylinder is formed and the other end on which a fork is formed to face the cylinder; brake force input terminal rotatably mounted on an end of the cylinder by a parking cable; brake force switching terminal installed within the cylinder on a common axis so as to rotate together with the brake force input terminal; brake force output terminal directly connected to the brake force switching terminal on a common axis; and a brake terminal that is disposed between the fork and the brake force output terminal and stops rotation of a brake disc using the brake force output by the brake force output terminal, wherein the brake force output terminal compensates for abrasion that occurs in the fork and a frictional pad of the piston by moving an initial position of the piston forward.