In today's world, time is the most valuable asset and this paper focuses on developing a smart parking system for smart cities. Its main objective is to assist users to find a vacant location of car parking in a shorter time. The system displays occupied and vacant parking spots on LCD, making it convenient for the users to park. This parking system is based on sensors and cloud server integration. The working principle is divided into two phases. In the first phase, the ultrasonic sensor is used to detect vacant or occupied car parking space and display it on the screen using cloud technology. In the second phase, the improper parking of the car is detected by IR sensors. It alerts the driver with a buzzer if the car is not parked in the parking boundary. Moving further, some important features of this parking system are also discussed followed by, components required and their description. Towards the end of the paper, this parking system is compared with other alternative smart parking systems, the comparisons prove the correctness of our system over others.