Thank you for all the comments here.
Some extra info to clarify:
Growing up they did the basics, but I always felt like I was a problem. I was a really 'good' child - tried so hard at school never in trouble, generally quite people pleasing and always appeared happy and smiley (from what I have been told by other adults who knew me then!). I was something they had to provide for and they didn't have the money (my dad, a factory worker earning min. wage and my mum, has never worked - no qualifications even at GCSE, no desire to get an entry level job).
For those suggesting I may look down on my parents, it's because I do feel a lot of resentment towards how they treated me as a teenager. I had to practically beg my mum to pick me up from school when needed, and I had to ask for weeks for £10 to get a new top (I had barely anything growing up and was embarrassed by this). I acknowledged my dad was so hardworking (and continued to be at 65) but my mum is lazy, apathetic, negative, miserable and resentful of the world. She doesn't understand why I would ever pay for a gym membership (waste of money) - when I go 5 times a week, why I would ever travel 20 minutes to a (slightly nicer) cinema when there is one 10 minutes away. Her life has been watching TV all day, making dinner for when my dad comes home, and letting life pass her by.
I knew early on that if I were to make something of myself (..better wording would be to have a more 'meaningful' life) I would have to work so hard and I did. I got on a PhD as young as I could, and made a lot of sacrifices in order to do this (living with my parents who I knew didn't really want me there and viewed me as a burden - I literally didn't have a choice - I earned £1000 a month and had to pay for everything else (food, other DD's, petrol, car, etc) and use credit cards etc.
I know who they are and the fact they wont change and I know I need to get over this and accept it for what it is. The issue is that.. I cant. Despite everything I really want a relationship with them and I feel very lonely (a deep sense of rejection and disconnect). My Mum has 4 sisters with whom are very close. They are all co-dependent and live similar lives and so my mum connects with them so her needs are met in that sense, and I am left feeling forgotten about and uncared for.
I have friends, all of who's parents actually care about them. They go for coffee together, have catch up's on the phone or may go shopping together.
Also, YES, my mum did actually say those words. re. being needy. The EXACT words. This is how she speaks to me. She literally hates me.
I've done my absolutely best to do well in life and I feel so rejected and unhappy.