There is no free parking in the centre of Malaga but plenty of pay parking. For free parking you need to be out of town a bit Calle Pacifico is one of the best
Calle Pacifico (MA-22) is on the south side of Malaga and the parking is free (2018). But make sure you are in a free zone. Downside its up to a two kilometre walk to the town centre. The walk is on the promenade and is a pleasant walk overlooking a wide sandy beach. There are many Chiringuito's (restaurants) along the way on the beach if you need refreshment.
Muelle Uno This is located on Paseo de la Farola just off the junction with Paseo de los Curas on your right. Downside is that you have to pay but the prices are reasonable and getting there is easy. This puts you in the heart of Malaga and most of the sites to see are around this area. Calle Maestranza is near the bullring and is a bit cheaper than Muelle Uno. This car park is also close to the heart of Malaga. Read general rules to street parking
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