I live on a main road with no parking, there is a large car park next door to us (the council offices) which you're allowed to use at weekends and on bank holidays (which I indeed use at these times) the only other place to park within about a 15 minute walk (if you're lucky) is the cul-de-sac opposite which has about space for about 14 cars (although there is a boat permanently in one of these spaces), about 70% of the houses on that road have either got a driveway or a separate garage.
On 2 occasions now I have had residents (older ladies if that is of any consequence) come over to me whilst I am in my car and yell at me about how terrible and selfish I am for parking on their road and how it should be left for the residents and nobody else. I've calmly explained each time that it is a public road and not residents parking and I pay my road tax like everyone else (although if it was I suspect I'd get a permit as we're so close to the road in question and have no alternative parking on week days), that I have to drive to get my DD (just turned 6) to school and that I work some miles away in a place that is only accessible by car. I asked one of them where else they suggest I park - she just said "I don't care, just not here". I ended up closing my window on one of them, and let the other rant (we were a captive audience as a bin van was blocking the exit...fun!) until she ran out of steam and the van had left - at which stage I told her I wished she would focus her attention on more important things and drove off (yes - rude - not too proud of myself for saying that but she had just spent the last 10 minutes yelling at me).
DD was in the car both times I was berated and was very upset on one of the occasions as the woman was so nasty.
I continue to use the cul-de-sac to park, I have no choice, but I feel very uncomfortable doing so now.