A milking parlor for animals comprising at least one milking stall arranged to receive an animal in a predetermined milking position, teat cups arranged to be used in milking the animal in the milking stall, a teat cup carrier arranged to store the teat cups in the milking stall when they are not used, and at least one robot arm provided with at least one gripping member arranged to grip a teat cup in the teat cup carrier and attach the teat cup on the teat of an animal in the milking stall. The teat cup carrier stores the teat cups in a storing area located at least partly in front of the front legs of the animal with respect to the direction of the animal when it stands in the predetermined milking position in the milking stall.