A vehicle hatch clearance determining system includes a plurality of cameras disposed at the vehicle and a control having a processor for processing image data captured by the cameras to determine structure and objects present in the fields of view of the cameras while the vehicle is being driven during a parking event. The control, responsive to processing of captured image data, determines and stores information pertaining to structure and objects present in the fields of view of the cameras during the parking event. When the vehicle is parked, the control determines if stored information includes structure or an object at or near the parking location and in a region that may be swept by the vehicle hatch when it is opened or closed. Responsive to determination of a potential collision of the hatch with structure or an object, the clearance determining system controls the hatch and/or generates an alert.