Where you are allowed to park your campervan overnight varies by country, state, or the city you are in. However, your general options include: campsites, RV parks, BLM land, street parking, private land or public parking lots (e.g. Walmart or some Casinos).
Here are some common options for overnight parking for campervans:
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Campsites/RV parks: No introduction needed here - these are free or paid designated areas for camping that offer amenities such as restrooms, showers, and electrical hookups.
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BLM land: BLM Land (Bureau of Land Management) offers lots of great, free camping options, most of which offer more privacy, seclusion and better views than paid campsites. Most stays on BLM land are limited to 14 days at a time.
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Private land: Sites like Hipcamp, AirBnB and Harvest Hosts offer lots of great places to stay on privately owned land. These spots are normally booked in advance and can offer more privacy than public campgrounds.
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Street parking: Some cities allow campervans to park on the street overnight, but there may be restrictions on the length of stay, the size of the vehicle, and the location. It's best to check the local laws and regulations before parking on the street, or you risk the dreaded "knock" in the middle of night.
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Public/private car parks: Some Walmarts and casinos allow campervans to be parked overnight. If you're unsure, pop in and ask a staff member. Most casinos won't mind especially if you spend some money with them. Same goes for restaurants in smaller towns - just check-in with the manager first, and offer to grab some food/drinks in return.