A parking release device is provided that includes: a base which is mounted on a vehicle; a lever which is coupled to the base and includes lever track; and a handle which is coupled to the base and includes a locker which is coupled to the lever track. The lever track includes a first stable position, a second stable position, a first path which connects the first stable position and the second stable position, and a second path that connects the second stable position and the first stable position. As the handle is pivoted by the release of the parking, the locker moves from the first stable position to the second stable position along the first path, and as the handle is pivoted by the performing of the parking, the locker moves from the second stable position to the first stable position along the second path.