In many congested areas, shared parking has gotten increasing attention because of its potential to alleviate parking resource shortages. However, managing parking resources remains a challenge when simultaneously considering multiple decision-making criteria of public travelers in allocating parking spaces and recommending optimal parking routes. To fill this gap, from four perspectives, i.e., driving, among shared parking lots, at a shared parking lot, between shared parking spaces and destinations, we proposed nine criteria for shared parking space allocations and parking route recommendations, and we also gave the quantitative models for different criteria. Furthermore, an analytic hierarchy process Entropy-TOPSIS grey relational analysis (AHP-Entropy-TOPSIS-GRA) method and an improved ant colony algorithm were proposed to solve the proposed allocation of parking spaces and recommend optimal parking routes, respectively. Finally, the validity of our proposed models and algorithms was tested by empirical parking data and road traffic data collected in Huai’an City, Jiangsu province, China. The research helps provide a theoretical foundation for implementing shared parking initiatives and improving public travelers’ parking satisfaction.