Tallinn is so centralised and pedestrian-friendly that there’s absolutely no reason to bring a car. If you happen to be here with your own set of wheels though, keep in mind that finding parking in downtown Tallinn, especially during working hours, can be a real nightmare.
Public parking on streets in the town centre, as well as on a few streets in Old Town, costs €1.5 - €6 per hour (calculated by the minute), depending on the zone. Look for posted signs indicating the price and the hours/days when paid parking is in effect. The first 15 minutes of parking in public paid zones are free, but you must use a parking clock or a written note on your dashboard to mark the time you first parked. You can buy per-hour parking passes from street-side vending machines or kiosks.
Please refer to https://www.tallinn.ee/en/parking for more detailed information.

If this process seems too complicated, you can use one of the private or municipal parking lots and houses in Tallinn. The rates, terms, opening hours, and payment methods differ depending on where you park and who manages the area. Take a moment to check the details on the notice boards before you park your vehicle.
The main operators are Europark, Ühisteenused and Snabb.